Feedback-Dubins-RRT Recovery Path Planning of UUV in an Underwater Obstacle Environment
Joint Authors
Yuan, Qi
Yan, Zheping
Hao, Bing
Dai, Xuefeng
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-01
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Hao, Bing& Yan, Zheping& Dai, Xuefeng& Yuan, Qi. 2020. Feedback-Dubins-RRT Recovery Path Planning of UUV in an Underwater Obstacle Environment. Journal of Sensors،Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1190587
Modern Language Association (MLA)
Hao, Bing…[et al.]. Feedback-Dubins-RRT Recovery Path Planning of UUV in an Underwater Obstacle Environment. Journal of Sensors No. 2020 (2020), pp.1-9.
https://search.emarefa.net/detail/BIM-1190587
American Medical Association (AMA)
Hao, Bing& Yan, Zheping& Dai, Xuefeng& Yuan, Qi. Feedback-Dubins-RRT Recovery Path Planning of UUV in an Underwater Obstacle Environment. Journal of Sensors. 2020. Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1190587
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190587