An Improved RRT Algorithm for Rendezvous Problem in Complex Environment

In this paper, a rendezvous problem in complex environment is investigated where a quadrotor is required to rendezvous with a moving target while avoiding a moving obstacle. A time-based RRT algorithm is proposed to generate a collision free route from quadrotor's current position to the rendezvous point, and a feed-forward based PID controller is designed to track the route. Simulation results show the effectiveness of the proposed algorithm and its superiority compared to the original RRT algorithm.