A path planning method based on improved RRT

Liu Yang, Wei Guo Zhang, Jing Ping Shi, Guang Wen Li

科研成果: 书/报告/会议事项章节会议稿件同行评审

11 引用 (Scopus)

摘要

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.

源语言英语
主期刊名2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
出版商Institute of Electrical and Electronics Engineers Inc.
564-567
页数4
ISBN(电子版)9781479946990
DOI
出版状态已出版 - 12 1月 2015
活动6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 - Yantai, 中国
期限: 8 8月 201410 8月 2014

出版系列

姓名2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

会议

会议6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
国家/地区中国
Yantai
时期8/08/1410/08/14

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