Aiming at the problems that RRT∗ algorithm has poor directionality in path planning and the path is not sufficient for UAV flight, an improved RRT∗ algorithm is proposed by analyzing the kinematics model of fixed-wing UAV. Firstly, the sampling function is introduced to make the random tree grow towards the target point, which improves the efficiency of path search. Secondly, the expansion of algorithm nodes is constrained according to the flight dynamics of fixed-wing UAV, and then b-spline curve is used to optimize the path suitable for UAV flight. Finally, the feasibility of the algorithm is verified in two-dimensional and three-dimensional environments. The simulation results show that the improved RRT∗ algorithm greatly reduces the time cost of path planning and is a fast and effective global path planning algorithm.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Global Path Planning Of Fixed-wing UAV Based On Improved RRT∗ Algorithm


    Beteiligte:
    Xiangju Jiang (Autor:in) / Bingde Huang (Autor:in)


    Erscheinungsdatum :

    2023




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Improved ant colony algorithm for path planning of fixed wing unmanned aerial vehicle

    Zhao Hongchao / Zhao Jianzhong | DOAJ | 2022

    Freier Zugriff

    Path Planning Based on Improved MPC for Fixed Wing UAVs with Collision Avoidance

    Su, Meimei / Liu, Huixia / Hu, Jinwen et al. | TIBKAT | 2022


    Path Planning Based on Improved MPC for Fixed Wing UAVs with Collision Avoidance

    Su, Meimei / Liu, Huixia / Hu, Jinwen et al. | Springer Verlag | 2021


    Path Planning Based on Improved MPC for Fixed Wing UAVs with Collision Avoidance

    Su, Meimei / Liu, Huixia / Hu, Jinwen et al. | British Library Conference Proceedings | 2022


    A Fixed Wing UAV Path Planning Algorithm Based On Genetic Algorithm and Dubins Curve Theory

    Yan Peng / Yan Zhuo / Zheng Hongxing et al. | DOAJ | 2018

    Freier Zugriff