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 Le Hong,Changhui Song,Ping Yang,et al.Two-Layer Path Planner for AUVs Based on the Improved AAF-RRT Algorithm[J].Journal of Marine Science and Application,2022,(1):102-115.[doi:10.1007/s11804-022-00258-x]
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Two-Layer Path Planner for AUVs Based on the Improved AAF-RRT Algorithm


Two-Layer Path Planner for AUVs Based on the Improved AAF-RRT Algorithm
Le Hong123 Changhui Song23 Ping Yang23 Weicheng Cui23
Le Hong123 Changhui Song23 Ping Yang23 Weicheng Cui23
1 Zhejiang University-Westlake University Joint Training, Zhejiang University, Hangzhou 310024, China;
2 Key Laboratory of Coastal Environment and Resources of Zhejiang Province (KLaCER), School of Engineering, Westlake University, Hangzhou 310024, China;
3 Institute of Advanced Technology, Westlake Institute for Advanced Study, Hangzhou 310024, China
Autonomous underwater vehicles (AUVs)Path plannerRandom rapidly exploring tree (RRT)Artificial attractive field (AAF)Path smoothing
As autonomous underwater vehicles (AUVs) merely adopt the inductive obstacle avoidance mechanism to avoid collisions with underwater obstacles, path planners for underwater robots should consider the poor search efficiency and inadequate collision-avoidance ability. To overcome these problems, a specific two-player path planner based on an improved algorithm is designed. First, by combing the artificial attractive field (AAF) of artificial potential field (APF) approach with the random rapidly exploring tree (RRT) algorithm, an improved AAF-RRT algorithm with a changing attractive force proportional to the Euler distance between the point to be extended and the goal point is proposed. Second, a two-layer path planner is designed with path smoothing, which combines global planning and local planning. Finally, as verified by the simulations, the improved AAF-RRT algorithm has the strongest searching ability and the ability to cross the narrow passage among the studied three algorithms, which are the basic RRT algorithm, the common AAF-RRT algorithm, and the improved AAF-RRT algorithm. Moreover, the two-layer path planner can plan a global and optimal path for AUVs if a sudden obstacle is added to the simulation environment.


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Received date: 2021-07-06;Accepted date: 2021-12-02。
Foundation item:Supported by Zhejiang Key R&D Program 558 No. 2021C03157, the “Construction of a Leading Innovation Team” project by the Hangzhou Munic-559 ipal government, the Startup funding of New-joined PI of Westlake University with Grant No. 560 (041030150118) and the funding support from the Westlake University and Bright Dream Joint In-561 stitute for Intelligent Robotics.
Corresponding author:Weicheng Cui,E-mail:cuiweicheng@westlake.edu.cn
Last Update: 2022-04-22