一种改进的RRT无人机航路规划算法

A Heuristic RRT Route Planning Algorithm for UAV

文章针对RRT航路规划算法中航路规划随机性大、结果不确定性的问题,结合启发式的A*算法,引入航路评价启发函数,对RRT算法扩展树节点选择方式进行改进,提出了一种改进的RRT无人机航路规划算法,并在Matlab环境下进行了仿真试验。与传统算法相比,该算法能够快速规划并收敛到最优航路,具有有效性和工程应用可行性。

Aiming at the random and indeterminacy of the RRT algorithm, this paper improved RRT algorithm by combining it with heuristic A* algorithm and proposed new RRT algorithm by varying the random point selection mode and introducing heuristic evaluation information and simulating in Matlab environment. Compared with the basic RRT algorithm, the new RRT algorithm works significantly quicker to the optimal path, which indicate the effectiveness and engineering feasibility of the new RRT algorithm.