Research Article
Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment
| (1) | V ⟵ {Sinit}; E ⟵ Ø; T ⟵ (V, E); | | (2) | for k ⟵ 0 to K do | | (3) | qrand ⟵ Sample(k) | | (4) | Qnear ⟵ NearVertices(qrand, T) | | (5) | if Qnear = Ø then | | (6) | Qnear ⟵ NearestVertex(qrand, T) | | (7) | end | | (8) | Ls ⟵ GetSortedList(qrand, Qnear) | | (9) | qmin ⟵ ChooseBestParent(Ls) | | (10) | if qmin ≠ Ø then | | (11) | T ⟵ InsertVertex(qrand, qmin, T) | | (12) | T ⟵ RewireVertices(qrand, Ls, E) | | (13) | end | | (14) | end | | (15) | return T = (V, E) |
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