由于飞行器的实际飞行环境复杂多变，且飞行过程受到诸多因素的限制，因此规划环境的正确建立和规划算法的恰当选择成为航迹规划的关键问题。以小型四旋翼飞行器为研究对象，针对室内飞行环境，对航迹规划进行了研究。针对室内飞行环境，进行了三维建模，设计出了仿真平台。考虑到航迹规划问题对算法计算速度的要求，采用快速扩展随机树( RRT)算法进行航迹规划，并针对算法存在的不足，进行了改进。在Matlab环境中，通过平台的实际运行，进行仿真，并对仿真结果进行比较分析，得出结论，证明了改进的RRT算法确实有效，大大提高了运行效率，为飞行器航迹规划提供了依据。%As the actual aircraft environment of aircraft is complex, and the flight is restricted by many factors, so building properly planning environment and choosing appropriately planning algorithms is the key issue. In this pa-per, a small four-rotor aircraft was studied for indoor flight environment, and its path planning was studied. A 3-D model was designed for indoor flight environments, and a simulation platform was designed. Taking into account the planning's requirements of the computing speed of the algorithm, RRT was used to plan the path, and aiming at the shortage, the algorithm was improved. Through the actual operation of the platform and simulation experiments with Matlab, the simulation results were compared to prove that the improved RRT algorithm is really effective and can im-prove the operating efficiency greatly.
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