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The Study on Real-Time RRT-Based Path Planning for UAVs Using a STM32 Microcontroller

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Pubblicato in:Electronics vol. 14, no. 24 (2025), p. 4901-4917
Autore principale: Tsai Shang-En
Altri autori: Shih-Ming, Yang, Wei-Cheng, Sun
Pubblicazione:
MDPI AG
Soggetti:
Microcontrollers
Robotics
Curves
Computation
Embedded systems
Unmanned aerial vehicles
Planning
Optimization
Altitude
Trees
Design
Autonomous navigation
Collision avoidance
Algorithms
Real time
Path planning
Efficiency
Flight tests
Autonomy
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Abstract:Real-time path planning for autonomous Unmanned Aerial Vehicles (UAVs) under strict hardware limitations remains a central challenge in embedded robotics. This study presents a refined Rapidly-Exploring Random Tree (RRT) algorithm implemented within an onboard embedded system based on a 32-bit STM32 microcontroller, demonstrating that real-time autonomous navigation can be achieved under low-power computation constraints. The proposed framework integrates a three-stage process—path pruning, Bézier curve smoothing, and iterative optimization—designed to minimize computational overhead while maintaining flight stability. By leveraging the STM32’s limited 72 MHz ARM Cortex-M3 core and 20 KB SRAM, the system performs all planning stages directly on the microcontroller without external computation. Experimental flight tests verify that the UAV can autonomously generate and follow smooth, collision-free trajectories across static obstacle fields with high tracking accuracy. The results confirm the feasibility of executing a full RRT-based planner on an STM32-class embedded platform, establishing a practical pathway for resource-efficient, onboard UAV autonomy.
ISSN:2079-9292
DOI:10.3390/electronics14244901
Fonte:Advanced Technologies & Aerospace Database