Research on Route Planning of Unmanned Target Vehicle with Improved RRT
The unmanned target vehicles are usually used as the moving targets struck by precision guided weapons in actual combat exercises and training.In order to accomplish different combat tasks,unmanned target vehicles need to drive autonomously and plan paths at different speeds.The traditio-nal RRT algorithm was improved to solve thisn problem.Firstly,the maximum steering angles at diffe-rent speeds were calculated based on a two degree of freedom dynamic model of unmanned target vehi-cles.A binary map was constructed based on the remote sensing battlefield map.Secondly,the vehicle speed was matched with the expanded step size.At the same time,the limitations on the maximum steering angle wete taken into consideration when selecting adjacent nodes in the random tree.Finally,the final path was determined by the smooth fitting with the cubic quasi-uniform B-spline curve.The simulation results of the improved algorithm were verified in an exercise battlefield environment.The results show that the unmanned target vehicle can complete path planning tasks at different speeds.It means that the algotithm provides a new solution for the path planning of unmanned target vehicles at different speeds.
万方数据
维普
