Cyl-IRRT: Homotopy Optimal 3D Path Planning for AUVs by Biasing the Sampling Into a Cylindrical Informed Subset

In a complex 3-D environment, efficiently and safely reaching the target position is of great significance for autonomous underwater vehicles. This article proposes a cylinder-based informed rapid exploration random tree (Cyl-iRRT*) algorithm, which seeks to find the homotopy optimal path by focusin...

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Veröffentlicht in:	IEEE transactions on industrial electronics (1982) Jg. 70; H. 4; S. 3985 - 3994
Hauptverfasser:	Yu, Fujie, Chen, Yuan
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.04.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Algorithms Autonomous underwater vehicle (AUV) Autonomous underwater vehicles Cylinders optimal path planning Optimization Path planning Planning Probabilistic logic rapidly exploring random tree (RRT) Sampling sampling-based algorithms Search problems Task analysis Three-dimensional displays Trajectory
ISSN:	0278-0046, 1557-9948
Online-Zugang:	Volltext
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