引用格式:刘靠，蒋海峰，董磊，等．基于CＲS-ＲＲT算法的无人机航迹规划［J］．电光与控制，2023，30(7):35-39．LIUK,JIANGHF,DONGL,etal．UAVpathplanningbasedonCＲS-ＲＲTalgorithm［J］．ElectronicsOptics＆Control,2023,30(7):35-39．基于CＲS-ＲＲT算法的无人机航迹规划刘靠，蒋海峰，董磊，任学文(南京理工大学，南京210000)摘要:针对快速搜索随机树(ＲＲT)算法在航迹规划过程中存在采样点扩展随机性强、航迹曲折不平滑等问题，提出了一种基于约束随机采样点的ＲＲT(ConstrainedＲandomSampling-basedＲＲT，CＲS-ＲＲT)算法。该算法引入人工势场法中的引力场势能函数约束随机采样点在目标点附近采样，引导随机树朝着目标点生长，提高算法的规划速度，并结合去除冗余节点策略和MinimumSnap航迹平滑方法，在复杂三维环境中可快速生成一条安全、平滑且满足无人机动力学约束的航迹。仿真结果表明，该算法有效提高航迹规划速度并缩短航迹长度。关键词:无人机;航迹规划;快速扩展随机树算法;约束采样点;动力学约束中图分类号:V279文献标志码:Adoi:10．3969/j．issn．1671－637X．2023．07．006UAVPathPlanningBasedonCＲS-ＲＲTAlgorithmLIUKao,JIANGHaifeng,DONGLei,ＲENXuewen(NanjingUniversityofScienceandTechnology,Nanjing210000,China)Abstract:AimingattheproblemsofstrongrandomnessofsamplingpointexpansionandunsmoothpathinthepathplanningprocessofＲＲT(Ｒapid-explorationＲandomTree)algorithm,aconstrainedrandomsamplingbasedＲＲTalgorithm-CＲS-ＲＲT(ConstrainedＲandomSampling-basedＲＲT)isproposed．Inthismethod,thepotentialenergyfunctionofgravitationalfieldinartificialpotentialfieldmethodisintroducedtoconstrainrandomsamplingpointstosamplenearthetargetpoint,soastoguidetherandomtreetogrowtowardsthetargetpointandimprovetheplanningspeedofthealgorithm．CombinedwiththestrategyofremovingredundantnodesandMinimumSnaptracksmoothingmethod,asafeandsmoothtrackthatmeetsthedynamicconstraintsofUAVcanbequicklygeneratedinacomplexthree-dimensionalenvironment．Thesimulationresultsshowthatthealgorithmcaneffectivelyimprovethespeedoftrajectoryplanningandshortenthetrajectorylength．Keywords:UAV;pathplanning;rapid-explorationrandomtreealgorithm;constraintsamplingpoint;dynamiccon...
