Abstract
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.
Highlights
With the development and advancement of science and technology, more and more underwater special tasks require UUV to complete
The planning method of a spatial path is given for the known recovery starting point vector and target point vector in a 3D environment
For the obstacle-intensive environment, a method which constructs a local structure map between the obstacle and the target vector based on the distance and orientation information is proposed
Summary
With the development and advancement of science and technology, more and more underwater special tasks require UUV to complete. After more than ten or twenty hours of work, the recovery of UUV can be carried out on an underwater platform or a surface ship. If the environment where UUV recovery is carried out is complicated with dense obstacles, many various obstacle avoidance methods can be used. Repeated iterations of subpaths will increase the time spent in planning recovery paths, and the movement time of UUV and the data storage capacity will be increased. An RDT algorithm is called Rapidly exploring Random Trees (RRT) when using a random method to select new configuration points [5]. In [7], Griffiths et al proposed a RRT algorithm for constructing traversable paths by modeling. Trajectory generation technology is considered to be a part of the local path planning process, which mainly realizes the construction of a traversal path between two or more path points. The minimum turning radius of UUV can be calculated as
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