改进RRT无人机航迹规划算法

针对RRT（快速扩展随机树）航迹规划算法在未知环境下缺乏较强目的导向性和偏离较优解的问题,提出基于引导向量的RRT与滚动规划窗口相结合的航迹规划方法.改进的RRT算法加入方向引导因子,限制节点扩展范围,增强RRT生长的目的性.采用对比择优扩展,生成多个可行解,通过比较得到较优解.计算机仿真实验结果表明,改进的RRT航迹规划算法在未知环境中能够很快收敛于较优解,该算法用于解决未知环境下的航迹规划问题是可行的.

Improved RRT Algorithm of UAV Path Planning

In unknown environment,the RRT route planning strategy lacks purpose-oriented feature and the solution deviates from the optimal one,to solve these problems,this paper presents a new method which combine the improved RRT algorithm and rolling plan window.The improved RRT algorithm introduce guide direction factor,which limit the extended range of nodes and strengthen the purpose of growth.Apply comparison method,to get better solution.Computer simulation results show that the new route planning algorithm can converges to a better solution in short time in unknown environment,and the new algorithm to solve path planning in unknown environment is feasible.