Motion Planning of UAV for Port Inspection Based on Extended RRT* Algorithm

A suitable trajectory in a port inspection mission is important for unmanned aerial vehicles (UAVs). Motion planning can help UAVs quickly generate an optimal that meets the constraints. The motion of achieved this paper as follows: firstly, collision detection (CD) function applied evaluates whether bias_RRT* (rapidly exploring random tree) algorithm needs to be called. Secondly, isosceles triangle optimization optimizes path. Next, generated based on minimum snap method. Lastly, and improved are used two experimental scenes path comparison, carried out. results show that, method, length calculation time shortened, cost deviation also significantly reduced. Overall, it appears camera-equipped UAV under proposed approach accomplish monitoring tasks more effectively safety environment.