An Adaptive RRT Based on Dynamic Step for UAV Path Planning

摘要

In view of the shortcomings of planning time and path quality for Rapidly-exploring Random Tree (RRT) in the mountain terrain, this paper presents a adaptive RRT algorithm based on dynamic step and uses the hermite difference polynomials to smooth the planned path. Adaptive RRT algorithm based on dynamic step introduces feedback factor and flight bound, dynamically adjusts the step of exploration tree and the selection of growing point according to the distribution of obstacles in the flight environment, it reduces the time required for planning and improves the path quality. The simulation results show that after the 300th iteration, compared to the CPSO, the average number of explore failure times reduced 1335 times, consuming time reduced 9144 ms and flying distance reduced 3.288 km by using the adaptive RRT algorithm based on dynamic step.