An adaptive RRT based on dynamic step for UAVs route planning

Executing task in the complex environment, the traditional RRT algorithm is easy to make the tree fall into local minimum area which resulted in poor efficiency. In order to solve the problem, this paper proposes an adaptive RRT algorithm based on dynamic step for path planning and uses the cubic polynomial BSpline curve fitting to smooth the plannned path. The simulation results show that the number of explore failures reduced 35186 times, consuming time reduced 963 ms, distance reduced 33 km at the 3000th iteration by using the adaptive RRT based on dynamic step comparing to the traditional RRT algorithm.