基于改进双向RRT算法的无人机三维路径规划  

3 D Path Planning for UAVs Based on Improved Bidirectional RRT Algorithm

作　　者：段云涛 毛鹏军 娄晓恒 牛鑫宇 DUAN Yuntao;MAO Pengjun;LOU Xiaoheng;NIU Xinyu(School of Mechanical and Electrical Engineering,Henan University of Science and Technology,Luoyang 471000,China)

机构地区：[1]河南科技大学机电工程学院,河南洛阳471000

出　　处：《电光与控制》2024年第7期13-19,共7页Electronics Optics & Control

基　　金：洛阳市科技重大专项(2101018A)。

摘　　要：针对双向RRT算法在三维路径规划过程中存在的搜索效率低、路径冗长,且转折点多等问题,在双向RRT算法的基础上提出了一种改进双向RRT算法。改进双向RRT算法同时从起点和终点进行扩展,引入新的目标偏向采样策略和动态步长策略,使随机树采样具有目标导向性,解决原有算法随机性太强的问题;采用节点修剪策略对生成的路径进行优化处理,删除路径中的冗余节点;利用B样条曲线对修剪优化后的路径进行平滑处理。仿真结果表明,改进算法能够在三维环境中生成满足无人机性能约束的平滑路径,可以有效缩短路径长度并提高路径规划速度。Aiming at the problems of low search efficiency,long path and too many turning points in the three-dimensional path planning process of bidirectional RRT algorithm,an improved bidirectional RRT algorithm is proposed on the basis of bidirectional RRT algorithm.The improved bidirectional RRT algorithm is extended from the starting point and the end point at the same time,and a new target bias sampling strategy and dynamic step size strategy are introduced to make the random tree sampling have target directedness,which solves the problem that the original algorithm is too random.The node pruning strategy is used to optimize the generated path and delete the redundant nodes in the path.The B-spline curve is used to smooth the path after pruning optimization.The simulation results show that the improved algorithm can generate a smooth path that satisfies the UAV performance constraints in a three-dimensional environment,which can effectively shorten the path length and improve the path planning speed.

关 键 词：无人机 路径规划 改进双向RRT算法 三维环境 B样条曲线 

分 类 号：V279[航空宇航科学与技术—飞行器设计]