3D Path Optimization of UAV Based on Improved RRT Algorithm and Artificial Potential Field Method

there are many problems in UAV obstacle avoidance path planning using conventional RRT algorithm, such as many search nodes, large area, long time, low efficiency, many path corners and a large number of unnecessary path redundant points, and not considering the dynamic obstacles encountered by UAV during flight. For this reason, an improved RRT algorithm is designed and fused with the artificial potential field method. Reduce the number of search nodes and improve the search efficiency; experiments show that the improved RRT and artificial potential field fusion algorithm compared with the traditional RRT generated path is more reasonable and safe, making the UAV flight more continuous and smooth.