Wind Aware Planning Using the Introduced RRT*-line Algorithm

This paper introduces a new approach: the rapidly exploring random tree star-line (RRT*-line) algorithm for sub-optimal path planning based on distance, time, or energy with knowledge of the wind field. The proposed strategy is predicated on the concept that humans approach a target by aiming directly at it when it is visible. The RRT*-line is an extension of RRT*, which is an asymptotically optimal path planner. The proposed algorithm is tested in cluttered environments with obstacles, considering the optimal distance path, and optimal energy or time under wind load. The new algorithm is explicated in this paper, and a comparison between RRT, RRT*, Dijkstra, and RRT*-line shows that the proposed approach provides bett er results in various complex environments for wind-aware path planning based on distance, time, or energy.