@inproceedings{a923e2f7f985478e9b4e326a797708f3,
title = "A path planning method based on improved RRT",
abstract = "An improved Rapidly-exploring Random Tree∗ (RRT∗) algorithm was given, which focused on the problem of UAV path planning in 3-D dynamic environment. By considering the constraint of the UAV, the frequency of collision checking in the searching stage was reduced. And this could save searching time. D∗ Lite algorithm was introduced to RRT∗ to solve the dynamic path planning problem. The information of the length and the collision checking results on the route segments was saved to construct a road map. By using the road map, D∗ Lite algorithm could be more efficient. The simulation results show that the improved RRT∗ algorithm can find the result more quickly, and when a sudden threat arise, the algorithm can find a substituted route fast.",
keywords = "Path planning, Rapidly-exploring Random Tree 3-D dynamic environment, Unmanned aerial vehicle",
author = "Liu Yang and Zhang, {Wei Guo} and Shi, {Jing Ping} and Li, {Guang Wen}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 ; Conference date: 08-08-2014 Through 10-08-2014",
year = "2015",
month = jan,
day = "12",
doi = "10.1109/CGNCC.2014.7007284",
language = "英语",
series = "2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "564--567",
booktitle = "2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014",
}