path Planning of Multiple Unmanned Aerial Vehicles Based on RRT Algorithm

摘要

An optimal path planning method for multiple autonomous UAVs have been based on the modification of Rapidly-exploring Random Tree (RRT) algorithm by using the Rapidly-exploring Random Tree (RRT). The proposed method improves the path of RRT algorithm in 2D configuration space. The improved RRT algorithm is used to form the same path for each iteration and generate the minimum distance between the nodes. Moreover, the path reconstruction strategy has been put further to handle the problem of multiple UAVs. The effectiveness of the proposed method has been demonstrated through simulation using MATLAB.