中文摘要：

快速扩展随机树（RRT）是航迹规划的重要算法,针对其难以直接应用于无人机航迹规划的问题,提出了动态自适应RRT算法.动态自适应RRT算法在随机点产生过程中加入无人机转弯角约束,使航迹更适合无人机直接跟踪;同时引入动态调节因子,根据环境中障碍密集程度调整规划步长,有效避免各类障碍.计算机实验结果表明动态自适应RRT算法在单航迹规划和多航迹规划中明显优于基本RRT算法和其它改进RRT算法,更适用于无人机航迹规划.

英文摘要：

RRT is the important path planning algorithm.In view of its difficult to directly apply in UAVS path planning,this paper puts forwards the dynamic adaptive RRT algorithm.Adding turn corner constraints in the process of random point produce in order to make track for UAVS tracking more directly.At the same time,introduce dynamic adjustment factor,according to the environment of intensive degree to adjust the planning step length and avoid all kinds of barriers effectively.The computer experimental results show that the dynamic adaptive RRT algorithm in single path planning and more significantly than the basic path planning algorithm and other improvements RRT RRT algorithm,more applicable for UAVS path planning.