Title:
UNMANNED AERIAL VEHICLE PATH PLANNING METHOD BASED ON IMPROVED RRT ALGORITHM
Document Type and Number:
WIPO Patent Application WO/2023/197092
Kind Code:
A1
Abstract:
An unmanned aerial vehicle flight path planning method based on an improved rapidly exploring random tree (RRT) algorithm, relating to the technical field of unmanned aerial vehicles. The method comprises the following steps: initializing and setting parameters; initializing a random search tree, and in the exploration process of the random tree, gradually enhancing the tendency of the random tree to rapidly get close to a target point when no obstacle is encountered; and once an obstacle is encountered, immediately reducing the tendency, and maximizing the randomness of growth, so that the random tree can avoid the obstacle more efficiently. Moreover, during each growth, a parent node having a smaller cost is selected instead of simply selecting the nearest node. According to the improved method, the planning efficiency and speed are improved, and the distance of the planned path is reduced, and finally, the planned path is further optimized, so that the length of the planned path is further shortened.
Inventors:
CUI JINZHONG (CN)
YE MAO (CN)
CAO YIRONG (CN)
LIU QINGWEN (CN)
YE MAO (CN)
CAO YIRONG (CN)
LIU QINGWEN (CN)
Application Number:
PCT/CN2022/086013
Publication Date:
October 19, 2023
Filing Date:
April 11, 2022
Export Citation:
Assignee:
UNIV OF ELECTRONIC SCINCE AND TECHNOLOGY OF CHINA (CN)
International Classes:
G05D1/12
Foreign References:
| CN112987799A | 2021-06-18 | |||
| CN114115362A | 2022-03-01 | |||
| CN108983780A | 2018-12-11 | |||
| CN114237302A | 2022-03-25 | |||
| US20210318697A1 | 2021-10-14 |
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