Global Path Planning Of Fixed-wing UAV Based On Improved RRT∗ Algorithm

Abstract

Aiming at the problems that RRT∗ algorithm has poor directionality in path planning and the path is not sufficient for UAV flight, an improved RRT∗ algorithm is proposed by analyzing the kinematics model of fixed-wing UAV. Firstly, the sampling function is introduced to make the random tree grow towards the target point, which improves the efficiency of path search. Secondly, the expansion of algorithm nodes is constrained according to the flight dynamics of fixed-wing UAV, and then b-spline curve is used to optimize the path suitable for UAV flight. Finally, the feasibility of the algorithm is verified in two-dimensional and three-dimensional environments. The simulation results show that the improved RRT∗ algorithm greatly reduces the time cost of path planning and is a fast and effective global path planning algorithm.

Keywords

• fixed-wing uav
• rrt∗ algorithm
• path planning
• b-spline curve