Formation Navigation and Positioning of Quadrotor UAV Based on Multi-Source Information Fusion Improved RRT* Algorithm

This paper analyzes the traditional RRT* algorithm. Considering the performance constraints of quadrotor unmanned aerial vehicles (UAVs) and the limitations of the RRT* algorithm itself, the traditional RRT* algorithm is improved. Secondly, for the multi-source information fusion algorithm, a federated Kalman filter is adopted to fuse the data from multiple sensors. To address the limitation of the single reference system in the federated Kalman filter, the path points planned by the improved RRT* algorithm are used as the main reference information input, and combined with the inertial navigation system (INS) of the sub-reference system to form a two-layer reference system, which is then input into the federated Kalman filter. Finally, the effectiveness of the designed algorithm is verified in the simulation software.