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3D Dubins Curve-Based Path Planning for UUV in Unknown Environments Using an Improved RRT* Algorithm

The autonomous navigation of an Unmanned Underwater Vehicle (UUV) in unknown 3D underwater environments remains a challenging task due to the presence of complex terrain, uncertain obstacles, and strict kinematic constraints. This paper proposes a novel smooth path planning framework that integrates...

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Uloženo v:
Hlavní autoři: Feng Pan, Peng Cui, Bo Cui, Weisheng Yan, Shouxu Zhang
Médium: Artigo
Jazyk:Inglês
Vydáno: MDPI AG 2025-07-01
Edice:Journal of Marine Science and Engineering
Témata:
path planning
obstacle avoidance
RRT*
3D Dubins curves
On-line přístup:https://www.mdpi.com/2077-1312/13/7/1354
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