Reserch On Three-dimension Path Planning For UAV Using RRT Algorithm

With the continuous ascension of economic and the progress of science and technologyinformation modernization, human could not satisfy the current air vehicle technology, so alarge number of aircraft were born. Vehicle technical performance was getting better andbetter, the structure was becoming more and more complex, and because of complication andprecision of tasks, only relied on manual operation could not meet the demand, era ofunmanned aerial vehicle (UAV) was coming. As a key part of the UAV system, UAV routeplanning has been attracted attentions of many researchers.Based on the single UAV’s route planning, first of all, the threat model of planning space isbuilt, Under the condition of restrictions, two trees are established, then the starting point andthe target point are put in the tree respectively to be its root nodes, next the coverage of treecan be get through rasterizing the space, and then the probability of P is got. According toprobability P and the cost function the next node of extension can be determined, and thatcycle repeats, until the target point is found and the optimal path can be generated.Based on the single UAV’s route planning, the threat model of planning space is builtagain，Here the dynamic source of threat is added, then through the kinematics equation, thenext node to be extended can be got by using the cost function and kinematics equation, andthat cycle repeats, until the target point is found and the optimal path can be generated.Finally, the simulation program of UAV route planning is wrote, and then simulated it onMATLAB software. Through a lot of comparing analysis, Through a lot of contrast analysis,the conclusion can be obtained that both variable probability based bidirectional RRTalgorithm and kinematics equation RRT algorithm are good at path planning inthree-dimensional environment, Compared these two algorithms, variable probability basedbidirectional algorithm is faster, the precision of kinematics equations of RRT algorithm ishigher.