关键词：无人机对象;路径规划; B PPT的方法
摘 要：The paper presents the concept of path planning of unmanned flight the helicopter type of flying object. The presented method is based on probabilistic robot motion planning method called B-PPT. Method B-PPT is built upon the known methods of PRM (Probabilistic Roadmap) and RRT (Rapidly-exploring Random Trees). Using the method of B-PPT can plan the path of mobile robots and manipulation. Planning the path of a flying object was carried out in Cartesian space, taking into account only the position and altitude. The speed of the method depends on two input variables, ie the configuration space discretization step and set number of randomly generated configurations. Effect of size on the results obtained was presented in this work.