This paper proposed a multi-constraint developed rapidly exploring random tree (RRT) algorithm to solve the problem of unmanned aerial vehicles (UAVs) path planning in three-dimensional environments. On the basis of traditional RRT algorithm, corner constraint and path length constraint are considered to restrict the turn angle and path length respectively, making the generated track satisfy conditions of flight. In addition, the third order Bezier curves are used to smooth the path. Finally, four groups of contrastive simulation results show advantages of the developed RRT algorithm over the traditional one.


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    Title :

    Three-Dimensional Path Planning for Unmanned Aerial Vehicles Based on the Developed RRT Algorithm


    Contributors:
    Zekui, Qin (author) / Rui, Wang (author) / Xiwang, Dong (author) / Qingdong, Li (author) / Dongyang, Fang (author) / Zhang, Ren (author)


    Publication date :

    2018-08-01


    Size :

    3045073 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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