Cooperative Collision Avoidance Route Planning Based on Improved RRT Algorithm

Abstract

To address the issue of multi-UAVs cooperative combat and realize threat avoidance in 3D space, a cooperative collision avoidance route planning strategy based on improved RRT algorithm is proposed. Firstly, the planning space establishment, constraint analysis and threat modeling are carried out. Aiming at the shortcoming of lacks of preference in searching while using RRT algorithm, a biased principle to improve the selection strategy was proposed, which leaded random number close to the target. Meanwhile, the improved algorithm is applied to the planning process of multi-UAVs cooperative route planning. Finally, the feasibility of cooperative collision avoidance route planning strategy based on improved RRT algorithm is verified by simulation analysis. By comparison, the improved algorithm can close to optimum with less time, which proves the effect of the algorithm.