Abstract
Navigating through complex flow fields, underwater vehicles often face insufficient thrust to traverse particularly strong current areas, necessitating consideration of the physical feasibility of paths during route planning. By constructing a flow field database through Computational Fluid Dynamics (CFD) simulations of the operational environment, we were able to analyze local uncertainties within the flow field. Our investigation into path planning using these flow field data has led to the proposal of a hierarchical planning strategy that integrates global sampling with local optimization, ensuring both completeness and optimality of the planner. Initially, we developed an improved global sampling algorithm derived from RRT to attain nearly optimal theoretical feasible solutions on a global scale. Subsequently, we implemented corrective measures using directed expansion to address locally infeasible sections. The algorithm’s efficacy was theoretically validated, and simulated results based on real flow field environments were provided.
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