A RRT path planning algorithm based on A* for UAV

Tangle Peng; Zuguo Chen; Yimin Zhou

doi:10.1117/12.2627282

14 February 2022 A RRT path planning algorithm based on A* for UAV

Tangle Peng, Zuguo Chen, Yimin Zhou

Author Affiliations +

Proceedings Volume 12161, 4th International Conference on Informatics Engineering & Information Science (ICIEIS2021); 1216106 (2022) https://doi.org/10.1117/12.2627282
Event: 4th International Conference on Informatics Engineering and Information Science, 2021, Tianjin, China

Abstract

Rapid-exploration Random Tree (RRT) is an efficient algorithm to search non-convex and high-dimensional spaces via randomly constructing spatial filling trees. This algorithm has been widely used in autonomous robot path planning. However, the basic RRT algorithm has some shortcomings. In order to improve the defects of low search efficiency and poor path quality of the RRT algorithm, this paper proposes an A* based RRT path planning algorithm with the advantages of completeness and optimality of the A* algorithm and fast extensibility of the RRT algorithm. During the procedure of random node sampling of the RRT algorithm, A* path is used to formulate the sampling strategy. Meanwhile, the constraint of the path turning angle is added to the nearest neighboring search of the RRT algorithm, which can enhance the rationality of the search tree node selection and improve the obtained path quality. Simulation experiments have been performed to verify the effectiveness of the proposed method for unmanned aerial vehicle path planning.

Citation Download Citation

Tangle Peng, Zuguo Chen, and Yimin Zhou "A RRT path planning algorithm based on A* for UAV", Proc. SPIE 12161, 4th International Conference on Informatics Engineering & Information Science (ICIEIS2021), 1216106 (14 February 2022); https://doi.org/10.1117/12.2627282

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