UAV path re-planning based on improved bidirectional RRT algorithm in dynamic environment

An improved bidirectional RRT algorithm is proposed to solve the problem of path re-planning in a dynamic environment. The off-line path planning is carried out before the UAV takes off. During flight, if pop-up threat is detected, nodes which are affected by pop-up threat will be deleted and the remaining tree structure will be retained, then improved bidirectional RRT is used to path re-planning. A simple and efficient path pruning method is designed to delete redundant nodes on the path. The Bezier curve is used to smooth the path. Simulation results show that the proposed method can meet the demand of path re-planning in dynamic environment.