UAV Route Planning Method Based on Dual-strategy RRT Algorithm
ZHANG Ruixin
WANG Wei
TIAN Ze
ZHANG Wei
Abstract：Aiming at the problems of low efficiency,large randomness and unsmooth path of the rapid expansion random tree(RRT)algorithm in UAV path planning in different environments,a dual-strategy RRT algorithm is proposed.The weight coeffi-cient is added to the random function of the traditional RRT algorithm to constrain the growth direction of the random tree,and the expansion step size is changed from fixed to adaptive.For the problem that the planned path is too long and not smooth,an optimiza-tion method of deleting redundant nodes is proposed,which effectively reduces the length of the path,and this paper uses the cubic B-spline curve method to smooth the track path,optimize the inflection points between the path nodes,and improve the smoothness of the path.The simulation results show that the path planning method of UAV based on RRT algorithm proposed in this paper has the advantages of short planning path,fast search speed and strong flightability,and it is suitable for UAV path planning require-ments in different environments.
Keywords：UAVpath planningRRTweight coefficientpath smoothing
Publication Date：2025-12-20
Online Publishing Date：2026-03-09(First online date of this platform, not the publication date of the document)
Pages：8( 3399-3406 )