Variable Probability based Bidirectional RRT Algorithm for UAV Path Planning
Since the traditional rapidly-exploring random tree connect(RRT-connect)algorithm cannot be applied to the problem of unmanned aerial vehicle(UAV)path planning directly,a variable probability based bidirectional RRT algorithm(VPB-RRT)is proposed.The restriction of the turning angle of UAV is joined in the process of generating random points of the programming algorithm,which makes the performance of the track satisfy the conditions for flight.By using this algorithm to identify the probability though rasterizing the planning space and importing the concept of coverage rate,track has been made to satisfy the respects of online time and accuracy of UAV path planning.Compared with the A* algorithm,traditional RRT algorithm and RRT-connect algorithm,the results show that VPB-RRT fully satisfies the requirements of online UAV path planning which with shorter time and higher accuracy.
Variable Probability Based Bidirectional RRT Algorithm RRT-connect Algorithm UAV Path Planning Restriction Coverage Rate
Wu Xinggang Guo Cong Li Yibo
School of Automation,Shenyang Aerospace University,Shenyang,110136
国际会议
长沙
英文
2217-2222
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）