Recovery Path Planning for Autonomous Underwater Vehicles Using Constrained Bi-RRT-Smart Algorithms

Zhenchi Zhang, Haibo Wu, Heng Zhou, Yunxuan Song, Yimin Chen, Ke He, Jian Gao

科研成果: 书/报告/会议事项章节会议稿件同行评审

4 引用 (Scopus)

摘要

In this paper, a constrained bi-RRT∗-smart algorithm is proposed to solve the recovery path planning problem of an Autonomous Underwater Vehicle (AUV). The RRT∗-smart algorithm is taken as a basic strategy for the predefined path-planning problem to generate an optimal path which has the smallest distance and no collisions with the islands. On this basis, a bi-direction technique is fusion with the RRT∗-smart algorithm to get a bi- RRT∗-smart algorithm. Additionally, two practical constraints are considered to facilitate the feasibility of the proposed method in real applications. For one thing, considering the limited turning ability of the AUV. For another, a local direction constraint is set near the ending point to ensure that the AUV enters the docking station along a reasonable direction. Compared with the previous algorithms, it not only reduces the path cost, but also greatly improves the convergence rate. Simulation results confirm the efficiency of the proposed bi-RRT∗- smart algorithm.

源语言英语
主期刊名OCEANS 2023 - Limerick, OCEANS Limerick 2023
出版商Institute of Electrical and Electronics Engineers Inc.
ISBN(电子版)9798350332261
DOI
出版状态已出版 - 2023
活动2023 OCEANS Limerick, OCEANS Limerick 2023 - Limerick, 爱尔兰
期限: 5 6月 20238 6月 2023

出版系列

姓名OCEANS 2023 - Limerick, OCEANS Limerick 2023

会议

会议2023 OCEANS Limerick, OCEANS Limerick 2023
国家/地区爱尔兰
Limerick
时期5/06/238/06/23

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