Design and Development of Underwater Embedded Robotic Platform Based on the ROS System

Abstract

This research aims to enhance the navigational efficiency and safety of underwater robots, particularly in the context of complex and variable aquatic environments. Underwater robots are assuming an increasingly significant role in oceanic exploration, resource prospecting, and rescue missions. Nonetheless, their path planning algorithms continue to grapple with the challenges presented by uncertainty and dynamic obstacles. This study commences with an analysis of the current limitations inherent to global and local path planning approaches and proceeds to employ the Rapidly-exploring Random Tree (RRT) algorithm and the Dynamic Window Approach (DWA) to surmount these hurdles. The designed path planning system offers a more reliable and efficient navigational solution for underwater robots, holding substantial practical value and broad application prospects.