MA-RRT∗ Algorithm for Path Planning with Maximum Rotation Angle Constraint and Adaptive Crossing Threat Zone

With the gradual diversification of modern application scenes, the demand for UAV path planning is becoming more and more abundant. This paper first introduces a possible battle scenario, and the problems that must be considered in path planning in this scene are analyzed: the maximum rotation angle constraint and the demand that the UAV can cross the threat zone flexibly. Maximum rotation angle and Adaptive crossing threat zone RRT∗(MA-RRT∗) algorithm is proposed to solve the above problems. The algorithm improves the reconnection process of neighbor set in RRT∗, and adds the maximum rotation angle constraint to the RRT∗ framework, so that the generated path strictly meets this constraint. In addition, the above process also reduces the time consumption of RRT∗, and the speed advantage of MA-RRT∗ becomes more and more obvious with the increase of iteration times. Then, the obstacle information is regarded as one of the components of the node cost of the path, and the original obstacle is regarded as a soft constraint. This enables the path to adaptively cross the threat zone, which is more in line with the actual situation. We compare our algorithm with RRT∗ in numerical simulation, which verifies the effectiveness and time consumption advantages of the algorithm.