A path planning method based on improved RRT

An improved Rapidly-exploring Random Tree* (RRT*) algorithm was given, which focused on the problem of UAV path planning in 3-D dynamic environment. By considering the constraint of the UAV, the frequency of collision checking in the searching stage was reduced. And this could save searching time. D* Lite algorithm was introduced to RRT* to solve the dynamic path planning problem. The information of the length and the collision checking results on the route segments was saved to construct a road map. By using the road map, D* Lite algorithm could be more efficient. The simulation results show that the improved RRT* algorithm can find the result more quickly, and when a sudden threat arise, the algorithm can find a substituted route fast.