关键词: 无人机, 改进快速扩展随机树（RRT）算法, 陷阱空间, 航迹规划

Abstract: For the problem that most of algorithms of path planning have low success rate and the time is long in trap space, an improved RRT algorithm is proposed. By combining the human and RRT algorithm, the virtual target point is set up through human, which guides the path searching to go out of trap space; the node expansion is optimized, which ensures the path searching is in the feasible region; the fast convergence strategy is designed, and the redundant nodes are deleted. Simulation verifies that the proposed method has a good effect in trap space path planning, which can quickly plan feasible path.

Key words: Unmanned Aerial Vehicle（UAV）, improved Rapidly Random-exploring Trees（RRT） algorithm, trap space, path planning