The invention relates to an unmanned aerial vehicle path
planning method based on a
fuzzy adaptive parameter RRT
algorithm, and belongs to the technical field of path planning. Comprising the following steps: S1,
system initialization and environment
perception: defining a starting point and a target point of an unmanned aerial vehicle in a three-dimensional task space, loading information of a static obstacle and a dynamic obstacle, and configuring a sensor to obtain environment parameters; s2, designing a discrete
fuzzy inference system: defining input variables as obstacle density RN and total node number TN, and defining output variables as step length SS and target deviation probability RP; constructing a
fuzzy rule base for dynamically reasoning an output variable according to the input variable; s3, executing a
fuzzy adaptive parameter RRT
algorithm, optimizing and improving the discrete
fuzzy inference system, and adjusting adaptive parameters; and S4, path optimization: optimizing the initial path by adopting a cost function rewiring method, and reducing the length of the path. In the dynamic process of path planning, according to the number of random nodes and the total number of nodes of the current
random tree, a
fuzzy inference system is designed to adaptively adjust the selection probability and the step length of an
algorithm, and the path planning efficiency and the success rate are effectively improved. The problems in the prior art are solved.