Research on Path Planning Algorithm Based on Dimensionality Reduction Method and Improved RRT

摘要

Autonomous underwater vehicle (AUV) has important significance for understanding, researching and developing the ocean. The research of path planning plays an important role in the safety of AUV and the improvement of work efficiency. Aiming at the complex underwater environment, irregular obstacles and planning difficulties, this paper proposes a dimension reduction path planning method suitable for three-dimensional space path planning. The space is expressed by the combination of horizontal stratification and longitudinal cutting, which simplifies the environmental model and improves the dimensionality disaster of path planning and long planning time. Furthermore, the inverse pruning and node reconstruction methods are used to further optimize the shortening path, which improves the practical value of the path. And the algorithm is fast, which reduces the energy consumption during the AUV travel. The simulation results show that the design path planning method is simple and effective, and it is suitable for complex underwater environment.