关键词: 定向采样, 自适应目标, 剪枝优化, 平滑处理, 四旋翼无人机

Abstract:

Aiming at the problems of low planning success rate, slow convergence speed, and suboptimal paths in the RRT algorithm for quadrotor UAV path planning of in complex environments, a directional exploration tree algorithm is proposed, which uses a directional sampling strategy to improve the directionality of the tree expansion, and by introducing an adaptive target adjustment strategy and a branch expansion strategy, the tree can expand quickly towards the target point while avoiding obstacles. The redundant points in the initial path are removed by the pruning process, and then the trajectory correction and smoothing process are performed on the pruned path to obtain the optimal route. Simulation results show that the proposed algorithm is successful in all tests. relative to the traditional RRT and improved RRT algorithms in multi-obstacle environments, in multi-obstacle environments, in terms of planning time, the proposed algorithm reduces 91.9% and 67%, in terms of path length, the proposed algorithm reduces 37% and 6%; in narrow environments compared in terms of planning time, the proposed algorithm reduces 88.3% and 70%, in terms of path length, the proposed algorithm reduces 36% and 5.6%.

Key words: directional sampling, adaptive target, pruning optimization, smoothing, quadrotor UAV