CONFERENCE PROCEEDINGS
Advanced Search
Home > Proceedings > Volume 12587 > Article
Paper
22 February 2023 UAV path planning algorithm based on improved RRT
Yu Liu, Zi-lv Gu, Cheng Li, Bao-guo Wang, He-nan Wu, Wen-jing Liu
Author Affiliations +
Proceedings Volume 12587, Third International Seminar on Artificial Intelligence, Networking, and Information Technology (AINIT 2022); 125871P (2023) https://doi.org/10.1117/12.2667637
Event: Third International Seminar on Artificial Intelligence, Networking, and Information Technology (AINIT 2022), 2022, Shanghai, China
Abstract
Aiming at the problems of traditional Rapidly Exploring Random Tree (RRT) algorithm in route planning, such as slow speed, poor route quality and low flightability, a route planning algorithm based on integrated improvement of RRT was proposed. Firstly, in the selection of nodes to be expanded, the minimum sum of the distance between nodes and the target and the random sampling point is taken as the selection basis instead of the original method of determining nodes only according to random sampling points, so as to increase the probability of nodes near the target in the random tree being selected as nodes to be expanded. Secondly, in the process of node expansion, the reachable region of the next waypoint was determined according to the UAV dynamic constraints, and then multiple alternative nodes were randomly generated in this region. Then the route cost function is designed and the comprehensive generation value of the route formed by the alternative nodes is taken as the judgment criterion for node addition. Finally, B-spline curve smoothing is carried out to further improve the route quality. The simulation results show that the improved algorithm has obvious advantages in improving the planning speed and air route quality, and the obtained air route satisfies the UAV dynamic constraints and has high flightability.
© (2023) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
Yu Liu, Zi-lv Gu, Cheng Li, Bao-guo Wang, He-nan Wu, and Wen-jing Liu "UAV path planning algorithm based on improved RRT", Proc. SPIE 12587, Third International Seminar on Artificial Intelligence, Networking, and Information Technology (AINIT 2022), 125871P (22 February 2023); https://doi.org/10.1117/12.2667637
ACCESS THE FULL ARTICLE
ORGANIZATIONAL
Sign in with credentials provided by your organization.
INSTITUTIONAL
Select your institution to access the SPIE Digital Library.
SELECT YOUR INSTITUTION
PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.
PERSONAL SIGN IN
No SPIE Account? Create one
PURCHASE THIS CONTENT
SUBSCRIBE TO DIGITAL LIBRARY
50 downloads per 1-year subscription
Members: $195
Non-members: $335 ADD TO CART
25 downloads per 1 - year subscription
Members: $145
Non-members: $250 ADD TO CART
PURCHASE SINGLE ARTICLE
Includes PDF, HTML & Video, when available
Members: $17.00
Non-members: $21.00 ADD TO CART
PROCEEDINGS
 10 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
GET CITATION
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Unmanned aerial vehicles
Detection and tracking algorithms
Radar
Reconstruction algorithms
Computer simulations
Genetic algorithms
Modeling
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top