AD-RRT: An RRT-based global path planning approach for underwater gliders with alpha shapes and DBSCAN

•Proposes a novel RRT*-based approach for global path planning.•Presents a preferred sampling strategy, enhancing sampling efficiency.•Proposes a feasibility assessment strategy to ensure reliable path planning.•Proposes an ocean currents influence metric for better parent node selection.•Adopts tim...

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Bibliographic Details

Published in:	Expert systems with applications Vol. 291; p. 128219
Main Authors:	Li, Yang, Juan, Rongshun, Zhou, Yatao, Wang, Tianshu, Li, Zezhong, Guo, Wei, Gao, Zhongke
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01.10.2025
Subjects:	Alpha shapes DBSCAN Path planning Rapidly-exploring Random Tree star Sampling-based algorithm Underwater glider DBSCAN Path planning Rapidly-exploring Random Tree star Underwater glider Sampling-based algorithm Alpha shapes
ISSN:	0957-4174
Online Access:	Get full text
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