Research Article
Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment
Algorithm 5
Bi-bias(qrand, k, qprev1, qprev2).
| (1) | if k mod 2 = 0 then | | (2) | if (xprev2 < xrand) then | | (3) | if (yprev2 < yrand) then | | (4) | if (zprev2 > zrand) then | | (5) | xbia = xrand − xrand | | (6) | ybia = yrand − yrand | | (7) | zbia = zrand + (zprev2 − zrand) | | (8) | else | | (9) | if (xprevl < xrand) then | | (10) | if (yprevl < yrand) then | | (11) | if (zprev1 > zrand) then | | (12) | xbia = xrand − xrand | | (13) | ybia = xrand − yrand | | (14) | zbia = zrand − (zprev1 − zrand) | | (15) | return qbia = (xbia, ybia,zbia) | | (16) | end |
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