An Improved RRT-Connect Algorithm Used for UAV 3D Trajectory Planning

Abstract

The widespread use of unmanned aerial vehicle(UAV) has made trajectory planning becoming a hot research area. Although there have been numerous UAV trajectory planning methods so far, it is difficult to effectively apply them in trajectory planning problems under complicated conditions on account of oversimplified planning models or inefficient planning methods. Therefore, an improved rapidly-exploring random tree connect(RRT-Connect) algorithm for this problem is put forward. Firstly, a mathematical model of UAV 3D trajectory planning problem is established. Then, when solving the mentioned model by adopting classical RRT-Connect algorithm, 6 kinds of improved strategies for generating random nodes are put forward. Finally, the improved RRT-Connect algorithm are applied to UAV 3D trajectory planning problem under threat of thunderstorm, and compared with the classical RRT algorithm to solve the same problem. Results show that the improved RRT-Connect algorithm can efficiently generate feasible UAV trajectory.

Keywords

• uav
• rrt-connect algorithm
• 3d trajectory planning
• random nodes
• thunderstorm