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Rapidly-exploring random tree-based planning method for route of unmanned aerial vehicle

A random tree and machine route technology, applied in the direction of mechanical equipment, combustion engines, navigation calculation tools, etc., to achieve the effect of increasing speed, increasing expansion speed, convergence speed and planning speed optimization

Active Publication Date: 2020-10-09
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

Therefore, the time to obtain a feasible path should also be used as an important indicator to measure the route planning algorithm, and none of the above-mentioned route planning methods can achieve a good balance between time and path length

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Embodiment Construction

[0032] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0033] The present invention is a path planning scheme, and it is named Fast-RRT* (F-RRT*), the F-RRT* algorithm is an improved version of the RRT* algorithm, the main improvement lies in how new points are added to the random tree, The algorithm as a whole can be divided into 15 steps, corresponding to figure 1 In the flow chart shown, the rectangles in the flow chart represent the execution steps, and the diamonds represent the judgment steps, and the function or variable processing process in the flow chart is the name or content corresponding to the steps. The specific steps of the algorithm are as follows:

[0034] Step 1: Obtain the required relevant parameters, including: starting point x start , target area X goal , environment X=X obs ∪X free , where X obs is the area where the obstacle is located, X free is an obstacle-free area, so there is X o...

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Abstract

The invention relates to a rapidly-exploring random tree-based planning method for the route of an unmanned aerial vehicle, belonging to the technical field of unmanned aerial vehicles. Compared withthe prior art, the method is mainly characterized in that a random point is used as a newly-added point to replace a newly-added point generated with fixed step length in a traditional method, and a local path is closer to an obstacle by creating a parent node for the newly-added node. According to the scheme, the random point is used as the newly-added point to replace the newly-added point generated with fixed step length in the traditional method, so the exploring speed of a random tree is increased to a great extent, the constraint strength of the dimensionality and size of an environmenton a planning algorithm is reduced, and the method can better adapt to a three-dimensional scene where the unmanned aerial vehicle works; and by creating the parent node for the newly-added node, thelocal path is closer to the obstacle, so the cost of adding the newly-added node to the random tree and then to a root node is reduced, and the speed of generating the track conforming to the unmannedaerial vehicle is increased.

Description

technical field [0001] The invention relates to the field of path planning, and specifically designs a path planning method based on rapidly expanding random trees, which is widely used in the fields of unmanned driving, manipulator control, and UAV route planning. Background technique [0002] Path planning has always been a hot topic in the field of intelligent robots. Its purpose is to find a collision-free continuous path from the starting point to the goal point in the task space. Generally, the shortest path can be obtained by using the graph search algorithm, but such algorithms The planning speed of is greatly affected by the size of the environment. Rapidly expanding random tree (RRT / rapidly exploring random tree) algorithm (see Lavalle S M. Rapidly-exploring Random Trees: A New Tool for Path Planning [Z]. USA: Computer Science Dept, lowa State Univ, 1998.) abandons the path optimal characteristics, the space is explored through a random sampling scheme in the spac...

Claims

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Application Information

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IPC IPC(8): G05D1/10G01C21/20
CPCG05D1/101G01C21/20Y02T10/40
Inventor 廖彬马瑞瑞刘光辉宗意棚朱沈瑞万方义
Owner NORTHWESTERN POLYTECHNICAL UNIV
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