标题：UAV path planning based on improved rapidly-exploring random tree
作者：Sun, Qinpeng ;Li, Meng ;Wang, Tianhe ;Zhao, Chenpeng
作者机构：[Sun, Qinpeng ;Li, Meng ;Wang, Tianhe ] College of Electrical Engineering, University of Jinan, Jinan; 250022, China;[Zhao, Chenpeng ] School of Contr 更多
会议名称：30th Chinese Control and Decision Conference, CCDC 2018
会议日期：9 June 2018 through 11 June 2018
来源：Proceedings of the 30th Chinese Control and Decision Conference, CCDC 2018
关键词：Path planning; Rapidly-exploring Random Tree; Unmanned Aerial Vehicle
摘要：The RRT algorithm can be used for path planning of Unmanned Aerial Vehicle (UAV). However, the efficiency and success rate of the basic RRT algorithm for path planning need to be improved. In view of this problem, this paper proposed an improved RRT algorithm which based on the dynamic pg value and the dynamic step length, and bidirectional RRT (Bi-RRT) is combined. The effectiveness and advance of the improved RRT algorithm are verified by simulation experiment. © 2018 IEEE.