Abstract
This paper addresses the path planning process with various uncertainties in the multi-UUV recycling. According to the amount of environmental information obtained, it can be divided into global planning for the entire recycling task and local planning for unknown threats. As a result, different from the traditional path planning method, the proposed method can be described as comprising two distinct phases: (1) combined with artificial potential field method, an improved algorithm based on “domain” is proposed, and the fish population trust domain algorithm is used to obtain the sub-target points that meet the requirements and complete the global track planning. (2) a bidirectional RRT* local path planning algorithm based on the concept of rolling optimization under incomplete constraints is proposed to deal with the unknown threats that appear during navigation. Finally, the effectiveness and feasibility of the algorithm are verified by simulation.
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