复杂环境下基于改进Informed RRT*的无人机路径规划算法
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刘文倩, 单梁, 张伟龙, 刘成林, 马强
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Unmanned Aerial Vehicle Path Planning Algorithm Based on Improved Informed RRT* in Complex Environment
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LIU Wenqian, SHAN Liang, ZHANG Weilong, LIU Chenglin, MA Qiang
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表1 不同地图环境下原始算法与改进算法找到初始路径所耗费时间
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Tab.1 Time consumed by original algorithm and improved algorithm in finding initial path in different map environments
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| 环境 | 算法 | tcost/s | | 实验1 | 实验2 | 实验3 | 实验4 | 实验5 | 实验6 | | map1 | IRRT* | 21.60287 | 15.5735 | 75.43213 | 11.9442 | 58.0835 | 9.934 | | map1 | APF-IRRT* | 11.1223 | 10.4460 | 8.0520 | 5.6783 | 4.0484 | 7.4060 | | map1 | AAPF-IRRT* | 1.3111 | 3.9898 | 1.5462 | 2.8812 | 1.2479 | 1.0312 | | map2 | IRRT* | 8.1384 | 9.9257 | 14.1959 | 34.3551 | 46.8274 | 15.7147 | | map2 | APF-IRRT* | 3.9932 | 4.4203 | 7.0841 | 4.1881 | 3.8764 | 5.9439 | | map2 | AAPF-IRRT* | 0.8612 | 0.8457 | 1.4761 | 2.0935 | 1.3418 | 1.5886 | | 3D | IRRT* | 20.2574 | 32.2878 | 20.6133 | 20.4921 | 91.9290 | 91.6779 | | 3D | AAPF-IRRT* | 14.6385 | 17.2127 | 16.4404 | 14.7832 | 11.1154 | 12.0652 | | 环境 | 算法 | tcost/s | | 实验7 | 实验8 | 实验9 | 实验10 | 平均 | | map1 | IRRT* | 83.1127 | 12.6667 | 51.1817 | 69.0751 | 40.8606 | | map1 | APF-IRRT* | 7.5079 | 5.7140 | 5.2071 | 8.3225 | 7.35045 | | map1 | AAPF-IRRT* | 2.9592 | 2.2278 | 0.8121 | 1.4574 | 1.9464 | | map2 | IRRT* | 10.4236 | 8.9757 | 64.0088 | 10.4278 | 22.2993 | | map2 | APF-IRRT* | 4.7732 | 4.4239 | 7.1845 | 3.9987 | 4.9886 | | map2 | AAPF-IRRT* | 1.5822 | 1.2133 | 1.7045 | 0.9273 | 1.3634 | | 3D | IRRT* | 20.6224 | 24.5895 | 29.4656 | 168.4688 | 52.0403 | | 3D | AAPF-IRRT* | 16.6168 | 10.1393 | 13.0260 | 11.1180 | 13.7156 |
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