UAV path planning based on improved rapidly-exploring random tree

The RRT algorithm can be used for path planning of Unmanned Aerial Vehicle (UAV). However, the efficiency and success rate of the basic RRT algorithm for path planning need to be improved. In view of this problem, this paper proposed an improved RRT algorithm which based on the dynamic p g value and the dynamic step length, and bidirectional RRT (Bi-RRT) is combined. The effectiveness and advance of the improved RRT algorithm are verified by simulation experiment.