A Multi-Task Path Planning Algorithm of UAV Based on Improved RRT

To address the multi-task path planning problem of UAVs in complex and realistic 3D geographic environments. We propose an improved RRT algorithm and use it for multi-task path planning. First, an equivalent 3D map is constructed based on the digital elevation model. Then, the RRT algorithm generates fewer effective sampling points and easily falls into local problems. Optimization of sampling space, introduction of variable step size and target guidance strategy are proposed to improve it. Finally, the paths are smoothed by cropping paths and B-sample curves. Experimental results show the improved algorithm significantly reduces path planning time and path length.