Route planning for unmanned aerial vehicle based on rolling RRT in unknown environment

摘要

For the problem of unmanned aerial vehicle route planning in unknown environment, a rolling rapidly-exploring random tree algorithm is proposed. According to the current environment information, the local route planning is carried out in the rolling window. Unmanned aerial vehicle flight in accordance with the planning results. At the same time, the new environment information is detected and the next stage of the route is generated. This process is repeated, until the unmanned aerial vehicle reaches the target position. The implementation method of the rolling rapidly-exploring random tree algorithm is discussed in detail, including the rolling window design, the local target setting, random node selection, route pruning and smoothing and so on. A new random node selection strategy is proposed, which can guide the rapidly-exploring random tree grows rapidly to the boundary of the rolling window. Finally, the simulation results show that the proposed method can meet the demand of online route planning in unknown environment.