Microplastic sampling path planning for unmanned surface vehicle (USV) based on RRT * and Dijkstra fusion algorithm

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Abstract Microplastics, an emerging environmental pollutant, have received widespread attention. This paper proposes an RRT* algorithm fused with Dijkstra’s algorithm to assist USV in achieving autonomous path planning for multi-objective points and B-spline smoothing of paths, allowing USV to be used to sample microplastics in the coastline and surface water. The fusion algorithm is also compared to the RRT* and artificial potential field algorithms using two metrics: path length and path smoothing, indicating its superiority in terms of both.