Researching | AUV cluster path planning based on improved RRT* algorithm

Chinese Journal of Ship Research, Volume. 18, Issue 1, 43(2023)

AUV cluster path planning based on improved RRT* algorithm

Lanyong ZHANG and Yu HAN

Author Affiliations

School of Intelligent Science and Engineering, Harbin Engineering University, Harbin 150001, China

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Table 1. Formation assembly path length and time
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Table 1. Formation assembly path length and time
AUV编号路径长度/m 所需时间/s 速度调节后到达集结点时间/s
AUV1 11.319 23.639 29.132
AUV2 7.499 15.863 29.132
AUV3 14.114 29.132 29.132

Table 2. Formation assembly path length and time
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Table 2. Formation assembly path length and time
算法平均路径长度/m 平均集结时间/s
速度协调主算法 11.34 26.38
路径规划主算法 15.46 33.68

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Lanyong ZHANG, Yu HAN. AUV cluster path planning based on improved RRT* algorithm[J]. Chinese Journal of Ship Research, 2023, 18(1): 43

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Paper Information

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Received: Apr. 26, 2022

Accepted: --

Published Online: Mar. 18, 2025

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DOI:10.19693/j.issn.1673-3185.02879

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology