Path optimization of AUV based on smooth-RRT algorithm

摘要

Aiming at the complex working environment and high real-time requirements for Autonomous Underwater Vehicle (AUV), in order to meet the requirements of path planning, the paper proposes a routing optimization method of Smooth-RRT algorithm. The convergence and angle factor are added to improve the growth point and the exploration point of the expansion tree, so as to improve the speed and practicability of the algorithm. The greedy algorithm is used to smooth the planning path to meet the special requirements of the shortest distance and maneuverability of AUV. The simulation results show that the method can quickly complete the path search, improve the search efficiency and shorten the planning distance. The optimized path is more suitable for robot tracking and meets the requirements of AUV planning system.