An Adaptive Path Planning Algorithm for USV in Complex Waterways: SA-Bi-APF-RRT*

In recent years, the RRT* algorithm has been widely applied in industrial fields because of its asymptotic optimality. However, the traditional RRT* algorithm exhibits limitations in terms of convergence speed and quality of generated paths, and its path exploration capability in complex environment...

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Главные авторы:	Sixian Li, Ke Chen, Dongfang Li, Jieyu Xian, Tieli Lyu, Yimeng Li, Hong Zhu, Maohua Xiao
Формат:	Artigo
Язык:	Inglês
Опубликовано:	MDPI AG 2025-12-01
Серии:	Journal of Marine Science and Engineering
Предметы:	path planning algorithm artificial potential field hierarchical sampling mechanism path optimization rapidly exploring random tree
Online-ссылка:	https://www.mdpi.com/2077-1312/14/1/45
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