@inproceedings{9fd0efc22754416a899b4e0d4854ccc8,
title = "Path Planning Using Improved RRT for UAV in Narrow Passage Space with Timing Constraints",
abstract = "This paper addresses the path planning problem for unmanned aerial vehicles (UAVs) in narrow passage space with timing constraints. The proposed method uses Rapidly Exploring Random Tree (RRT) algorithm improved by artificial potential field (APF) and general tau theory. A modified APF is introduced to intervene in the generation of random sampling points of RRT, that repulsive field is used to increase the sampling probability near the narrow passage, and the extended tree is guided to approach the goal point by attractive field. To achieve punctual arriving, a bio-inspired algorithm called general tau theory is applied, which uses the time for closing the gaps between current and goal states to realize synchronously planning of position and velocity. Simulation results indicate that the novel algorithm can improve the search efficiency of RRT, and timing and motion constraints can also be satisfied.",
keywords = "APF, Bio-inspired, Path planning, RRT, UAV",
author = "Wei Zhao and Chen, \{Wan Chun\} and Wang, \{Ya Na\} and Zhang, \{Xian Feng\}",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Autonomous Unmanned Systems, ICAUS 2021 ; Conference date: 24-09-2021 Through 26-09-2021",
year = "2022",
doi = "10.1007/978-981-16-9492-9\_59",
language = "英语",
isbn = "9789811694912",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "585--596",
editor = "Meiping Wu and Yifeng Niu and Mancang Gu and Jin Cheng",
booktitle = "Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021",
address = "德国",
}