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

被引：5

作者：

Hao, Bing ^{[1
]}

Yan, Zheping ^{[2
]}

Dai, Xuefeng ^{[1
]}

Yuan, Qi ^{[3
]}

机构：

[1] Qiqihar Univ, Coll Comp & Control Engn, Qiqihar, Heilongjiang, Peoples R China

[2] Harbin Engn Univ, Coll Automat, Harbin, Heilongjiang, Peoples R China

[3] Qiqihar Univ, Coll Telecommun & Elect Engn, Qiqihar, Heilongjiang, Peoples R China

来源：

JOURNAL OF SENSORS | 2020年 / 2020卷

关键词：

NAVIGATION; AVOIDANCE; VEHICLES; TERRAIN;

D O I：

10.1155/2020/8824202

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

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.

引用

页数：9

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