[1]揭光亮,张志安,潘孝斌. 基于改进RRT算法的无人机航迹规划[J].机械与电子,2026,44(02):105-111.
　JIE Guangliang,ZHANG Zhian,PAN Xiaobin. UAV Trajectory Planning Based on Improved RRT Algorithm[J].Machinery & Electronics,2026,44(02):105-111.
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 基于改进RRT算法的无人机航迹规划()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年02期
页码:
105-111
栏目:
飞行控制与导航
出版日期:
2026-02-26

文章信息/Info

Title:
 UAV Trajectory Planning Based on Improved RRT Algorithm
文章编号:
1001-2257(2026)02-0105-07
作者:
 揭光亮; 张志安; 潘孝斌
 (南京理工大学机械工程学院,江苏 南京 210094)
Author(s):
 JIE Guangliang; ZHANG Zhi’an; PAN Xiaobin
 (School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
关键词:
 ; 航迹规划; RRT* 算法; 无人机; FMM
Keywords:
rajectory planning; RRT* ; UAV; fast marching method
分类号:
TP242;V249.1
文献标志码:
A
摘要:
针对快速搜索随机树RRT算法在无人机航迹规划时搜索采样效率低、收敛速度慢且平滑性差等问题,提出一种改进RRT算法。改进算法采用快速行进法构建梯度上升场鲁棒引导采样策略,添加树结构引力拓展与局部拓扑特性,融合三次B样条曲线航迹平滑与改进DWA 算法,提升算法的避障与规划能力。仿真实验表明,改进算法同比RRT* 算法在二维简易环境、复杂环境及三维环境中的算法规划性能得到明显的提升。
Abstract:
 To address the issues of low search sampling efficiency,slow convergence speed,and poor smoothness encountered by the rapidly exploring random tree (RRT) algorithm in UAV trajectory planning,an improved RRT algorithm is proposed.The improved algorithm employs .It incorporates tree structure gravity expansion and local topological features,integrat cubic B spline smoothing with an Dynamic Weighted Averaging (DWA) algorithm to enhance obstacle avoidance and planning capabilities.Simulation experiments demonstrate that the improved algorithm achieves significantly enhanced planning performance compared to the RRT* algorithm in two dimensional simple environments, complex environments,and three dimensional environments.

参考文献/References:

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备注/Memo

备注/Memo:
 收稿日期:2025-11-19
作者简介:揭光亮 (1999-),男,广东湛江人,硕士研究生,研究方向为无人机路径规划;张志安 (1979-),男,黑龙江绥化人,博士,副教授,研究方向为飞行器控制、智能控制算法和多编队机器人控制技术;潘孝斌 (1979-),男,福建福鼎人,博士,副教授,研究方向为气压传动与控制、机械结构设计与分析和气动发动机。
更新日期/Last Update: 2026-04-29