UAV flight path optimisation based on improved RRT algorithm

The fast search random tree (RRT) algorithm is an algorithm used for path planning, which aims to reduce the search distance of UAV during flight and find the optimal path. Search for viable paths in the environment by building a random tree. The basic steps of UAV RRT algorithm include initialisation, generating random node, finding nearest tree node, extending tree and generating path. The improved algorithm can accelerate the search speed of the whole search space, and can optimise the multi-dimensional environment, and has good adaptability to the uncertain environment. However, the traditional RRT algorithm is not guaranteed to find the optimal path. By improving the centralised RRT algorithm, the flight path of UAV can be optimised, and then the advantages and disadvantages of each can be compared. First, build space model and drone model space. Secondly, the artificial potential field algorithm, pruning algorithm and area limit algorithm are improved to improve the search efficiency.