Electronics Optics & Control, Volume. 28, Issue 9, 25(2021)
Collaborative Path Planning Based on Improved RRT-Connect Algorithm
This paper proposes a UAV cooperative path planning method based on improved two-way rapid expansion random tree (RRT-Connect) algorithm.Firstlyin view of the low efficiency of the basic RRT-Connect algorithm and the limitation of random samplingan improved RRT-Connect algorithm is proposed.By introducing the target gravity and controlling the sampling rangethe 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 algorithmthe 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 algorithmand 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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Received: Sep. 9, 2020
Accepted: --
Published Online: Nov. 6, 2021
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