Research on Unmanned Aerial Vehicle Routing Optimization Based on Improved RRT*Algorithm
SHENG Xiaobao
HONG Keyi
LI Weijiao
Abstract：Planning a flyable path for an unmanned aerial vehicle(UAV)operating in a cluttered environment is a very typi-cal and challenging problem in the field of robotics,and there are various explorations in this field.Aiming at the problem that the RRT*algorithm does not include flight kinematic constraints and the path is rough in UAV planning,an RRT*UAV path planning optimization algorithm based on improved heuristic search is proposed.The heuristic search method combined with flight kinematics constraints is used to achieve path optimization and refinement of RRT*algorithm,and a smooth flight path of UAV is generated.The numerical optimization method based on nonlinear optimization is used to achieve high performance under the premise of guaran-teeing convergence,which significantly reduces the time of path calculation.Simulation experiments are established in Matlab,and the simulation results show that the heuristic search based on the improved RRT*has faster convergence speed and smoother path.
Keywords：RRT*UAVpath planningheuristic searchnonlinear optimization
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：7( 3418-3423,3454 )