research-article

UAV trajectory planning based on bi-directional APF-RRT* algorithm with goal-biased

Authors:

Xiao LiangAuthors Info & Claims

Volume 213, Issue PC

https://doi.org/10.1016/j.eswa.2022.119137

Published: 01 March 2023 Publication History

Abstract

In recent decades, RRT* algorithm has attracted much attention because of its asymptotic optimization. However, the RRT* algorithm still suffers from slow convergence rate and large randomness of search range. To overcome the shortcomings of this algorithm, this paper proposes UAV trajectory planning based on bi-directional APF-RRT* algorithm with goal-biased. Firstly, goal-biased strategy is used to guide the generation of random sampling points, and two mutually alternating random search trees are established by the bi-directional RRT* algorithm to perform the search, thus increasing the convergence rate of the algorithm. Secondly, the number of iterations is greatly reduced by incorporating an modified artificial potential field method into the bi-directional growth tree. In the process of smoothing the paths, a cubic spline interpolation algorithm is applied to optimize the paths to obtain the best trajectory. The combination of the two algorithms improves the direction of new node generation and reduces the path cost. Finally, the algorithm of this paper is compared with Informed-RRT*, Bi-RRT* and improved P-RRT* algorithms, and it enhances the search performance of the growing tree.

Highlights

•

The extension of the RRT* can reduce the convergence time.

•

The implementation of improved APF to decrease redundancy points.

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Combination with goal-biased strategy to obtain higher quality sampling.

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Generating smoother path optimized by cubic spline to lessen vertices.

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Butt MNasir NA． Rashid R(2024)A review of perception sensors, techniques, and hardware architectures for autonomous low-altitude UAVs in non-cooperative local obstacle avoidanceRobotics and Autonomous Systems10.1016/j.robot.2024.104629173:COnline publication date: 1-Mar-2024
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UAV trajectory planning based on bi-directional APF-RRT* algorithm with goal-biased

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cover image Expert Systems with Applications: An International Journal

Expert Systems with Applications: An International Journal Volume 213, Issue PC

Mar 2023

1402 pages

ISSN:0957-4174

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Pergamon Press, Inc.

United States

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Published: 01 March 2023

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Cited By

Guo SGong JShen HYuan LWei WLong Y(2025)DBVSB-P-RRT*Expert Systems with Applications: An International Journal10.1016/j.eswa.2024.126123266:COnline publication date: 25-Mar-2025
https://dl.acm.org/doi/10.1016/j.eswa.2024.126123
Butt MNasir NA． Rashid R(2024)A review of perception sensors, techniques, and hardware architectures for autonomous low-altitude UAVs in non-cooperative local obstacle avoidanceRobotics and Autonomous Systems10.1016/j.robot.2024.104629173:COnline publication date: 1-Mar-2024
https://dl.acm.org/doi/10.1016/j.robot.2024.104629
Zhang LYin HLi AHu LDuo L(2024)RSA-RRTJournal of King Saud University - Computer and Information Sciences10.1016/j.jksuci.2024.10215236:8Online publication date: 1-Oct-2024
https://dl.acm.org/doi/10.1016/j.jksuci.2024.102152
Feng ZZhou LQi JHong S(2024)DBVS-APF-RRT*Expert Systems with Applications: An International Journal10.1016/j.eswa.2024.123571249:PAOnline publication date: 1-Sep-2024
https://dl.acm.org/doi/10.1016/j.eswa.2024.123571
Lin YZhang L(2024)An improved Quick Informed-RRT* algorithm based on hybrid bidirectional search and adaptive adjustment strategiesIntelligent Service Robotics10.1007/s11370-024-00541-617:4(847-870)Online publication date: 1-Jul-2024
https://dl.acm.org/doi/10.1007/s11370-024-00541-6
Du RCao BGao Y(2024)Collaborative framework for UAVs-assisted mobile edge computing: a proximity policy optimization approachThe Journal of Supercomputing10.1007/s11227-023-05853-580:8(10485-10510)Online publication date: 1-May-2024
https://dl.acm.org/doi/10.1007/s11227-023-05853-5

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