Path Planning of Improved RRT* Based on DBSCAN Algorithm

Meng Jing Gao, Tian Yan, Quan Cheng Li, Wen Xing Fu, Zhen Fei Feng

科研成果: 书/报告/会议事项章节会议稿件同行评审

3 引用 (Scopus)

摘要

Aiming at the path planning problem of the unmanned aerial vehicle (UAV) under complex and changeable flight environment and flexible missions, the shortcomings of the existing Rapidly-exploring Random Tree* (RRT*) algorithm are improved. The improved method avoids the excessive ineffective search of the RRT* algorithm in space, reduces the computation, improves the planning speed, the search results are more efficient and fit the physical constraints of the vehicle, and the planned path result is better. At the same time, the DBSCAN clustering algorithm is combined with the specific application scenarios for improvement, thus the critical points in the planning results are effectively extracted. The new planning results are smoother and more reliable, and the randomness of the improved RRT* algorithm is avoided. The simulation results show that the new algorithm is universally applicable, has high security, and the planning results obtained are closer to the optimal state that can be directly applied to the path planning scenarios without prior knowledge.

源语言英语
主期刊名Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
编辑Wenxing Fu, Mancang Gu, Yifeng Niu
出版商Springer Science and Business Media Deutschland GmbH
1973-1984
页数12
ISBN(印刷版)9789819904785
DOI
出版状态已出版 - 2023
活动International Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, 中国
期限: 23 9月 202225 9月 2022

出版系列

姓名Lecture Notes in Electrical Engineering
1010 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议International Conference on Autonomous Unmanned Systems, ICAUS 2022
国家/地区中国
Xi'an
时期23/09/2225/09/22

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