Electronics Optics & Control, Volume. 28, Issue 9, 25(2021)

Collaborative Path Planning Based on Improved RRT-Connect Algorithm

ZHANG Danmeng... ZHEN Ziyang and CHEN Yan |Show fewer author(s)
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    This paper proposes a UAV cooperative path planning method based on improved two-way rapid expansion random tree (RRT-Connect) algorithm.Firstlyin view of the low efficiency of the basic RRT-Connect algorithm and the limitation of random samplingan improved RRT-Connect algorithm is proposed.By introducing the target gravity and controlling the sampling rangethe invalid samplings are reduced and the convergence speed is improved.The using of chaotic sequences ensures the sampling nodes have a certain randomness.Based on the improved algorithmthe constraints of the path planning model are considered and the artificial potential field is introduced to propose a collaborative path planning method.Simulation experiments verify that the improved algorithm is superior to the original algorithmand the effectiveness of the collaborative path planning method is proved.

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    ZHANG Danmeng, ZHEN Ziyang, CHEN Yan. Collaborative Path Planning Based on Improved RRT-Connect Algorithm[J]. Electronics Optics & Control, 2021, 28(9): 25

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    Paper Information

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    Received: Sep. 9, 2020

    Accepted: --

    Published Online: Nov. 6, 2021

    The Author Email:

    DOI:10.3969/j.issn.1671-637x.2021.09.006

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