A method of UAV path planning based on an improved RRT algorithm

In order to perform the advantages of Unmanned Aerial Vehicle (UAV), a method of UAV path planning is proposed based on Rapidly-exploring Random Tree (RRT) algorithm, which is adapt to the features of complexity and flexibility in battlefield environment. Firstly, the kinematic model of UAV was built and the characteristics and deficiencies of traditional RRT algorithm were analyzed. Secondly, the strategies of trajectory correction comprising node removal and transition trajectory were put forward. Then the simulation and flight experiment were carried out to verify the effectiveness of the proposed method. The results show that the method is able to realize the path planning safely and rapidly. Moreover, the planned path can satisfy the requirement of following, which is significant for flight of UAV in complex environment.