Real-Time Path Planning and Interception for Multi-AUVs Using Fusion of Improved RRT and DWA Algorithms
Changmiao Hu, Bing Sun, Zinan Su · 2024
The main idea of the article is to solve the problem of interception of two moving targets by four Autonomous Underwater Vehicles(AUVs). The simulation takes into account the unknown 2D and 3D underwater environment, which has a large number of irregular stationary obstacles. A new algorithm combining a rolling window and an improved Rapidly-exploring Random Tree (RRT) algorithm makes it possible to plan real-time motion paths for four AUVs simultaneously. However, such a path does not take into account the kinematic constraints of the AUV, which leads to the fact that the actual AUV cannot really move along this path. After a slight improvement of the Dynamic Window Approach (DWA) algorithm, it is fused with the above algorithm and then the real-time path is planned for the four AUVs. The simulation results show that the fusion algorithm in a complex underwater environment can solve the problem of four AUVs intercepting two moving targets in real time.