UAV real-time route planning based on multi-optimized RRT algorithm

UAV route planning in complicated environment is researched. The UAV route planning algorithm based on MO-RRT is proposed to ensure the safe execution in the complicated battlefield with incident threatens. First, threaten avoidance model is established by radar identification mechanism which can highly reduce its threaten space. Then the target heuristic strategy is utilized to accelerate the convergence of the algorithm. Finally, redundant point deletion strategy can reduce the route length and improve its smoothness. Simulation results show that the proposed algorithm can avoid the incident threatens promptly and generate route with good optimization. The proposed algorithm can make the UAV execute mission with good performance in complicated environment.