Research Article
Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment
| (1) | qpb ⟵ qrand | | (2) | if k mod 2 = 0 then | | (3) | for k ⟵ 0 to n do | | (4) | Fatt = BPGgoal (Sgoal, qpb) | | (5) | ⟵ NearestObstacleSearch(Sobs, qpb) | | (6) | if ≤ then | | (7) | return qpb | | (8) | else | | (9) | qpb ⟵ qpb + ε | | (10) | else | | (11) | for k ⟵ 0 to n do | | (12) | Fatt = BPGinitt(Sinit, qpb) | | (13) | ⟵ NearestObstacleSearch(Sobs, qpb) | | (14) | if ≤ then | | (15) | return qpb | | (16) | else | | (17) | qpb ⟵ qpb + ε | | (18) | return qpb |
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