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A Rapid Planning Repair Method of Three-Dimensional Path for AUV

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Abstract

In response to the local path planning issue encountered by Autonomous Underwater Vehicle (AUV) during autonomous navigation when facing sudden threats or obstacles, a rapid path planning repair solution based on the IRRT*-VSRP method is proposed in this paper. This method combines an enhanced RRT* algorithm with a threat-based variable step-size receding horizon predictive strategy, effectively reducing the search space in three-dimensional environments. Its notable features include rapid local path repair and generation, thereby improving the success rate and efficiency of planning. Simulation results demonstrate that the IRRT*-VSRP algorithm significantly reduces the time required for planning repair and enhances the directionality of tree expansion, rendering it suitable for complex underwater three-dimensional environments and enhancing the efficiency of AUV planning repair.

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Data Availability

No datasets were generated or analysed during the current study.

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Acknowledgements

The authors would like to acknowledge the anonymous reviewers and editors of this paper for their valuable comments

Funding

This research was funded by Science and Technology on Underwater Vehicle Technology Laboratory (grant number 2021JCJQ-SYSJJ-LB06907).

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Author notes

  1. Dongdong Tao, Haibo Liu and Jinlong Bai contributed equally to this work.

Authors and Affiliations

  1. College of Computer Science and Technology, Harbin Engineering University, Harbin, 150001, China

    Changting Shi, Dongdong Tao, Haibo Liu & Jinlong Bai

  2. Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin, 150001, China

    Changting Shi, Dongdong Tao, Haibo Liu & Jinlong Bai

Authors
  1. Changting Shi
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  2. Dongdong Tao
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  3. Haibo Liu
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Contributions

Changting Shi contributed to the design and writing of the study, and the author supervised the study and advised on the revision of the manual and provided input on the revision of the draft manuscript. Dongdong Tao contributed to the data. Haibo Liu made some comments on the manuscript. Jinlong Bai provided some review for the revision of the manuscript. All authors have read and agreed to the manuscript.

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Correspondence to Haibo Liu.

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Shi, C., Tao, D., Liu, H. et al. A Rapid Planning Repair Method of Three-Dimensional Path for AUV. Mobile Netw Appl (2024). https://doi.org/10.1007/s11036-024-02307-x

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