Research Article
Biased Sampling Potentially Guided Intelligent Bidirectional RRT∗ Algorithm for UAV Path Planning in 3D Environment
Algorithm 6
BPF (qbia, k, qprev1, qprev2).
| (1) | qop ⟵ qbia | | (2) | if k mod 2 = 0 then | | (3) | FAtt = computeAttForce(qprev2, qop) | | (4) | Dnearest = ρ(Sobs, qop) | | (5) | if ≤ then | | (6) | FRep = computeRepForce(qop, Sobs) | | (7) | qop = qop + | | (8) | else | | (9) | qop = qop + | | (10) | end | | (11) | else | | (12) | FAtt = computeAttForece(qprev1, qop) | | (13) | Dnearest = ρ(Sobs, qop) | | (14) | if ≤ then | | (15) | FRep = computeRepForce(qop, Sobs) | | (16) | qop = qop + | | (17) | else | | (18) | qop = qop + | | (19) | end | | (20) | end | | (21) | return qop |
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