Work

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

Year: 2025

Type: article

Abstract: 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 improved Rapidly-exploring Random Tree* (RRT*) with 3D Dubins curves to efficiently generate feasible and collision-free trajectories for nonholonomic UUVs. A fast curve-length estimation approach based on a backpropagation neural network is introduced to reduce computational burden during path evaluation. Furthermore, the improved RRT* algorithm incorporates pseudorandom sampling, terminal node backtracking, and goal-biased exploration strategies to enhance convergence and path quality. Extensive simulation results in unknown underwater scenarios with static and moving obstacles demonstrate that the proposed method significantly outperforms state-of-the-art planning algorithms in terms of smoothness, path length, and computational efficiency.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse13071354

Authors: Feng Pan, Peng Cui, Bo Cui, Weisheng Yan, Shouxu Zhang

Institutions: Northwestern Polytechnical University, SAIC Motor (China)

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Key Research and Development Projects of Shaanxi Province