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This paper proposes an improved planning method based on the RRT algorithm to address complex combat scenarios involving UAVs in dynamic environments. The method considers UAV kinematic models, flight capability constraints, terrain obstacles, and mission coordination windows. It uses UAV flight performance to guide expansion direction, ensuring flyability requirements. Flight path smoothing is achieved through multiple path reconstructions, iterating to find coordinated paths within mission time constraints. Simulation results demonstrate the algorithm's effectiveness in accelerating convergence speed.

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Multi-UAV Cooperative Obstacle Avoidance Trajectory Planning Method Based on Improved RRT Algorithm

  • 会议论文

  • 发表日期：

    2025年

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  • Zhaohua Zhang,
  • Dong Zhang,
  • Wenyi Liu,
  • Mengyang Wang,
  • Yuanshi Zheng

摘要

This paper proposes an improved planning method based on the RRT algorithm to address complex combat scenarios involving UAVs in dynamic environments. The method considers UAV kinematic models, flight capability constraints, terrain obstacles, and mission coordination windows. It uses UAV flight performance to guide expansion direction, ensuring flyability requirements. Flight path smoothing is achieved through multiple path reconstructions, iterating to find coordinated paths within mission time constraints. Simulation results demonstrate the algorithm's effectiveness in accelerating convergence speed.