Feedback-Dubins-RRT Recovery Path Planning of UUV in an Underwater Obstacle Environment

被引：0

作者：

Hao, Bing ^{[1
]}

Yan, Zheping ^{[2
]}

Dai, Xuefeng ^{[1
]}

Yuan, Qi ^{[3
]}

机构：

[1] College of Computer and Control Engineering, Qiqihar University, Qiqihar, Heilongjiang Province, China

[2] College of Automation, Harbin Engineering University, Harbin, Heilongjiang Province, China

[3] College of Telecommunication and Electronic Engineering, Qiqihar University, Heilongjiang Province, China

来源：

Journal of Sensors | 2020年 / 2020卷

关键词：

Digital storage - Unmanned underwater vehicles;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

In this paper, a UUV (Unmanned Underwater Vehicle) recovery path planning method of a known starting vector and end vector is studied. The local structure diagram is designed depending on the distance and orientation information about the obstacles. According to the local structure diagram, a Rapidly exploring Random Tree (RRT) method with feedback is used to generate a 3D Dubins path that approaches the target area gradually, and the environmental characteristic of UUV reaching a specific target area is discussed. The simulation results demonstrate that this method can effectively reduce the calculation time and the amount of data storage required for planning. Meanwhile, the smooth spatial path generated can be used further to improve the feasibility of the practical application of UUV. © 2020 Bing Hao et al.

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