Path Planning Rapid Algorithm Based on Modified RRT* for Unmanned Surface Vessel

Authors

Zhaozhen Jiang, Naval Submarine Academy, Qingdao 266199, China; Pilot National Laboratory for Marine Science and Technology, Qingdao 266237, China; Qingdao Institute of collaborative innovation, Qingdao 266071, ChinaFollow
Wenlong Wang, Naval Submarine Academy, Qingdao 266199, China; Pilot National Laboratory for Marine Science and Technology, Qingdao 266237, China; Qingdao Institute of collaborative innovation, Qingdao 266071, ChinaFollow
Wenqi Sun, Naval Submarine Academy, Qingdao 266199, China; Pilot National Laboratory for Marine Science and Technology, Qingdao 266237, China

Abstract

Abstract: Aiming at the weak purposiveness of rapidly exploring random tree algorithm in USV path planning, a modified rapid algorithm is proposed. The artificial potential field method is improved and the force analysis in four directions is added to comprehensively calculate the resultant force on USV. The calculation method of steering angle is redefined to avoid entering the local optimal trap and can reach the target point smoothly to obtain an initial path. The initial path is used to set the random point sampling area of rapidly exploring random tree algorithm. By reducing the probability of random points generated in worthless area during sampling, the purpose and timeliness of the algorithm are improved, and the quadratic programming path is obtained. The redundant points of the path planned by rapidly exploring random tree algorithm is removed, in which the path cost can be further reduced while the path nodes are reduced, and the final planned path is obtained. Experimental results show that, compared with the original rapidly exploring random tree algorithm, the modified algorithm can lower the running time and the number of sampling nodes by 84.14% and 70.09%, respectively, when obtaining a path with a similar cost. The proposed algorithm has better quality and higher running efficiency.

Recommended Citation

Jiang, Zhaozhen; Wang, Wenlong; and Sun, Wenqi (2024) "Path Planning Rapid Algorithm Based on Modified RRT* for Unmanned Surface Vessel," Journal of System Simulation: Vol. 36: Iss. 4, Article 9.
DOI: 10.16182/j.issn1004731x.joss.22-1381
Available at: https://dc-china-simulation.researchcommons.org/journal/vol36/iss4/9

First Page

888

Last Page

900

CLC

TP391.9

Recommended Citation

Jiang Zhaozhen, Wang Wenlong, Sun Wenqi. Path Planning Rapid Algorithm Based on Modified RRT* for Unmanned Surface Vessel[J]. Journal of System Simulation, 2024, 36(4): 888-900.

Corresponding Author

Wang Wenlong

DOI

10.16182/j.issn1004731x.joss.22-1381