Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment
Joint Authors
Wu, Xiaojing
Xu, Lei
Zhen, Ran
Wu, Xueli
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-11-12
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
During the last decade, Rapidly-exploring Random Tree star (RRT∗) algorithm based on sampling has been widely used in the field of unmanned aerial vehicle (UAV) path planning for its probabilistically complete and asymptotically optimal characteristics.
However, the convergence rate of RRT∗ as well as B-RRT∗ and IB-RRT∗ is slow for these algorithms perform pure exploration.
To overcome the weaknesses above, Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ (BPIB-RRT∗) algorithm is proposed in this paper, which combines the bidirectional artificial potential field method with the idea of bidirectional biased sampling.
The proposed algorithm flexibly adjusts the sampling space, greatly reduces the invalid spatial sampling, and improves the convergence rate.
Moreover, the deeply theoretical analysis of the proposed BPIB-RRT∗ algorithm is given regarding its probabilistic completeness, asymptotic optimality, and computational complexity.
Finally, compared to the latest UAV path planning algorithms, simulation comparisons are demonstrated to show the superiority of our proposed BPIB-RRT∗ algorithm.
American Psychological Association (APA)
Wu, Xiaojing& Xu, Lei& Zhen, Ran& Wu, Xueli. 2019. Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1195984
Modern Language Association (MLA)
Wu, Xiaojing…[et al.]. Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment. Mathematical Problems in Engineering No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1195984
American Medical Association (AMA)
Wu, Xiaojing& Xu, Lei& Zhen, Ran& Wu, Xueli. Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1195984
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195984