App. Res. of Comp. Accepted Paper
Vol. 44, 2027 No. 2

Bidirectional adaptive sampling and tangential guidance RRT* path planning algorithm for UAVs in complex three-dimensional environments

Jiang Haoyu
Zhu Junwu
Chen Zheyu
Zhang Hao
Jiang Yi
College of Information and Artificial Intelligence, Yangzhou University, Jiangsu Yangzhou 225127, China
DOI: 10.19734/j.issn.1001-3695.2026.06.0158

Abstract

To address low sampling efficiency in narrow passages, obstructed expansion near non-convex obstacles, and inconsistent cost updates after rewiring in UAV path planning in complex three-dimensional environments, a bidirectional RRT* path planning algorithm with adaptive sampling and tangential guidance (BAT-RRT*) is proposed. The algorithm constructs an adaptive flat-corridor sampling region based on the expansion success rate and combines the Bridge Test to enhance narrow-passage sampling. It uses a cascade cooperative expansion strategy consisting of goal-directed connection, conical detour, tangential potential field, and random fallback, together with subtree cost-propagation rewiring and B-spline smoothing. Thirty independent experiments are conducted in four complex three-dimensional scenarios against five improved RRT* algorithms. Results show that BAT-RRT* performs better overall in path length, node count, iterations, running time, and average turning angle while maintaining a high safety margin. Ablation experiments further verify the effectiveness of the main improvements. The proposed algorithm improves search efficiency, obstacle-avoidance safety, and path continuity for UAV path planning in complex three-dimensional environments.

Foundation Support

国家自然科学基金资助项目(61872313)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2026.06.0158
Publish at: Application Research of Computers Accepted Paper, Vol. 44, 2027 No. 2

Publish History

[2026-10-21] Accepted Paper

Cite This Article

蒋皓宇, 朱俊武, 陈哲宇, 等. 面向三维复杂环境的无人机自适应采样与切向引导双向RRT*路径规划算法 [J]. 计算机应用研究, 2027, 44 (2). (2026-10-24). https://doi.org/10.19734/j.issn.1001-3695.2026.06.0158. (Jiang Haoyu, Zhu Junwu, Chen Zheyu, et al. Bidirectional adaptive sampling and tangential guidance RRT* path planning algorithm for UAVs in complex three-dimensional environments [J]. Application Research of Computers, 2027, 44 (2). (2026-10-24). https://doi.org/10.19734/j.issn.1001-3695.2026.06.0158. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

Indexed & Evaluation

  • The Second National Periodical Award 100 Key Journals
  • Double Effect Journal of China Journal Formation
  • the Core Journal of China (Peking University 2023 Edition)
  • the Core Journal for Science
  • Chinese Science Citation Database (CSCD) Source Journals
  • RCCSE Chinese Core Academic Journals
  • Journal of China Computer Federation
  • 2020-2025 The World Journal Clout Index (WJCI) Report of Scientific and Technological Periodicals
  • Full-text Source Journal of China Science and Technology Periodicals Database
  • Source Journal of China Academic Journals Comprehensive Evaluation Database
  • Source Journals of China Academic Journals (CD-ROM Version), China Journal Network
  • 2017-2019 China Outstanding Academic Journals with International Influence (Natural Science and Engineering Technology)
  • Source Journal of Top Academic Papers (F5000) Program of China's Excellent Science and Technology Journals
  • Source Journal of China Engineering Technology Electronic Information Network and Electronic Technology Literature Database
  • Source Journal of British Science Digest (INSPEC)
  • Japan Science and Technology Agency (JST) Source Journal
  • Russian Journal of Abstracts (AJ, VINITI) Source Journals
  • Full-text Journal of EBSCO, USA
  • Cambridge Scientific Abstracts (Natural Sciences) (CSA(NS)) core journals
  • Poland Copernicus Index (IC)
  • Ulrichsweb (USA)