This paper proposes an improved planning method based on the RRT algorithm to address complex combat scenarios involving UAVs in dynamic environments. The method considers UAV kinematic models, flight capability constraints, terrain obstacles, and mission coordination windows. It uses UAV flight performance to guide expansion direction, ensuring flyability requirements. Flight path smoothing is achieved through multiple path reconstructions, iterating to find coordinated paths within mission time constraints. Simulation results demonstrate the algorithm's effectiveness in accelerating convergence speed.
Multi-UAV Cooperative Obstacle Avoidance Trajectory Planning Method Based on Improved RRT Algorithm
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2024 ; Shenyang, China September 19, 2024 - September 21, 2024
Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems (4th ICAUS 2024) ; Chapter : 21 ; 213-226
2025-04-09
14 pages
Article/Chapter (Book)
Electronic Resource
English
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