Research Article
Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment
| (1) | V ⟵ {Sinit, Sgoal}; E ⟵ Ø; Ta ⟵ (Sinit, E); Tb ⟵ (Sgoal, E); | | (2) | ηbest ⟵ ∞ | | (3) | for k ⟵ 0 to K do | | (4) | qrand ⟵ Sample(k) | | (5) | qnearest ⟵ NearestVertex(qrand, Ta) | | (6) | qnew ⟵ Extend(qnearest, qrand) | | (7) | Qnear ⟵ NearVertices(qnew, Ta) | | (8) | Ls ⟵ GetSortedList(qnew, Qnear) | | (9) | qmin ⟵ ChooseBestParent(Ls) | | (10) | if qmin ≠ Ø then | | (11) | T ⟵ InsertVertex(qnew, qmin, Ta) | | (12) | T ⟵ RewriteVertices(qnew, Ls, E) | | (13) | end | | (14) | qconn ⟵ NearestVertex(qnew, Tb) | | (15) | ηnew ⟵ Connect(qnew, qconn, Tb) | | (16) | if ηnew ≠ Ø &&C(ηnew) < C(ηbest) then | | (17) | ηbest ⟵ ηnew | | (18) | end | | (19) | SwapTrees(Ta, Tb) | | (20) | end | | (21) | return Ta, Tb = (V, E) |
|
