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- Title
基于狭窄通道路径树的快速航路规划算法.
- Authors
冉华明
- Abstract
To solve the problem of low altitude path planning for unmanned aerial vehicle(UAV) in city environment existing narrow passage between obstacles, narrow passage between obstacles is ascertained based on the space geometry relationship between them, and narrow passage route tree in the complex environment is generated by synthesizing all the narrow passages. Then the bidirectional Rapidly-exploring Random Tree(RRT) algorithm combined with narrow passage route tree is proposed. During the extending process of the two search trees, they can rapid extend in the narrow passages by adding the narrow passage route tree to the search tree according to the position relationship between them, which can reduce the useless extension of the two search trees and promote the generate speed of the path tree. Simulation results show that the algorithm can solve the rapid and efficient path planning problem for UAV in the complex environment with narrow passages.
- Subjects
PROBLEM solving; ALTITUDES; SPACE; TREES
- Publication
Telecommunication Engineering, 2022, Vol 62, Issue 6, p723
- ISSN
1001-893X
- Publication type
Article
- DOI
10.3969/j.issn.1001-893x.2022.06.005