Multigene and Improved Anti-Collision RRT* Algorithms for Unmanned Aerial Vehicle Task Allocation and Route Planning in an Urban Air Mobility Scenario

. 2024 Feb 21;9(3):125. doi: 10.3390/biomimetics9030125

Algorithm 2 IAC-RRT* algorithm for solving route planning problem

Input:
$Q_{n}$ , $Q_{s t}$ , $Q_{o b}$ , $q_{s t a r t}$ , $q_{e n d}$ ,n iteration times;
Output:
Route from $q_{s t a r t}$ to $q_{e n d}$ ;
1:
Search from $q_{s t a r t}$ ;
2:
while Iterate n times do
3:
while $d i s (q_{n e w}, q_{e n d}) > R$ do
4:
Generate $q_{n e w}$ within the radius R;
5:
if $q_{n e w} \in Q_{o b}$ do
6:
discard $q_{n e w}$ ;
7:
else $q_{n e w} \in Q_{n} \cup γ_{s t} Q_{s t}$ do
8:
reselect parent node for $q_{n e w}$ ;
9:
$min D_{n e w} = d i s (q_{s t a r t}, q_{n e a r}) + d i s (q_{n e a r}, q_{n e w})$ ;
10:
rewire with $q_{n e a r}$ as the parent node;
11:
$min D_{n e a r} = d i s (q_{s t a r t}, q_{n e a r})$ ;
12:
end if
13:
end while
14:
Backtrack along $q_{n e w}$ from $q_{e n d}$ to $q_{s t a r t}$ , i.e., find the route;
15:
Select the route with minimal distance from each iteration;
16:
end while
17:
Output the selected route from $q_{s t a r t}$ to $q_{e n d}$ .