Efficient 3D Homing Path Planning for AUV Docking
Kai Shi, Xiaohui Wang, Yiqun Wang, Xiaoou Ma · 2020
This study explores a 3D homing path planning method for AUV docking. Using the improved RRT* algorithm, the obstacle-free 3D path for AUV homing to docking station is generated. By using the 3D Dubins curve to improve the local planner and cost evaluation function of the RRT* algorithm, we propose a method to obtain the homing path satisfying the terminal constraints and kinematic constraints with a smaller calculation cost. In addition, greedy method is used to improve the efficiency of the algorithm. Path pruning is used to remove unnecessary way points to obtain a more concise path. Two numerical examples are presented to illustrate the effectiveness of the proposed method.