Multi-target RRT for UAVs path planning

This repository presents the following article in Python:

Thu Hang Khuat, Duy-Nam Bui, Hoa TT. Nguyen, Mien L. Trinh , Minh T. Nguyen , Manh Duong Phung, "Multi-goal Rapidly Exploring Random Tree with Safety and Dynamic Constraints for UAV Cooperative Path Planning," IEEE Transactions on Vehicular Technology. 2025. [IEEE Xplore] [Citation]

Installation

[email protected]:duynamrcv/multi-target_RRT.git

Run simulation

The current version have four different scenarios, from 1 to 4. Before run our method, please change the value of scenario in file. To run our method, run:

python3 contraint_rrt.py
python3 post_processing.py

We also implement some methods to conduct the comparisons, i.e. compare_*.py. To run those methods, run:

python3 compare_rrt_star.py
python3 compare_rrt_smart.py

The data will be saved in *.txt file. This file is used for the statistic, i.e. analys_*.py.

Results and Comparison

Path

Comparisons

Citation

@ARTICLE{10964594,
  author={Khuat, Thu Hang and Bui, Duy-Nam and Nguyen, Hoa TT. and Trinh, Mien L. and Nguyen, Minh T. and Phung, Manh Duong},
  journal={IEEE Transactions on Vehicular Technology}, 
  title={Multi-goal Rapidly Exploring Random Tree with Safety and Dynamic Constraints for UAV Cooperative Path Planning}, 
  year={2025},
  volume={},
  number={},
  pages={1-12},
  keywords={Autonomous aerial vehicles;Path planning;Vehicle dynamics;Turning;Heuristic algorithms;Peer-to-peer computing;Training;Particle swarm optimization;Mathematical programming;Robots;Cooperative path planning;rapidly exploring random tree;unmanned aerial vehicle},
  doi={10.1109/TVT.2025.3560658}}