Selective Goal Aiming Rapidly Exploring Random Tree Path Planning for UAVs

As the utilization of UAVs increases, real-time path planning is becoming more important so that paths around unpredictable obstacles can be created and modified along with the overall mission plan. The sampling-based rapidly exploring random tree (RRT) algorithm has advantages of fast computation a...

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Vydané v:International journal of aeronautical and space sciences Ročník 22; číslo 6; s. 1397 - 1412
Hlavní autori: Noh, Geemoon, Park, Jihoon, Han, Dongin, Lee, Daewoo
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Seoul The Korean Society for Aeronautical & Space Sciences (KSAS) 01.12.2021
한국항공우주학회
Predmet:
Aerospace Technology and Astronautics
Engineering
Fluid- and Aerodynamics
Original Paper
항공우주공학
Rapidly exploring random tree (RRT)
Path planning
Real time
Goal oriented
DTED
ISSN:2093-274X, 2093-2480
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Popis
Shrnutí:As the utilization of UAVs increases, real-time path planning is becoming more important so that paths around unpredictable obstacles can be created and modified along with the overall mission plan. The sampling-based rapidly exploring random tree (RRT) algorithm has advantages of fast computation and low computational complexity. While these characteristics are suitable for real-time path planning, there is a limitation that they cannot guarantee an optimal path. In this paper for the on-board path planning algorithm, the selective goal aiming RRT algorithm is proposed to improve the optimality of path while taking advantage of the RRT algorithm. In this algorithm, a randomly sampled node is selectively moved to a target direction by a certain ratio to generate a tree oriented toward a target point. As a result, an improved path can be generated in less time than the several kinds of RRT algorithm, and the performance of the algorithm is verified by comparison with the original RRT algorithm, biased RRT
ISSN:2093-274X
2093-2480
DOI:10.1007/s42405-021-00406-7