2021/09/11 by Xiaoxu Cao, Linyi Gu, Cao, Xiaoxu +11
Computer Science · Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Systems and Control (eess.SY) #Underwater Vehicles and Communication Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2109.05208
openalex publication_date 2021/09/11 · openalex created_date 2021/09/27 · openalex updated_date 2026/07/28
Autonomous Underwater Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution, also it works in a complex environment with obstacles. By integrating the rapidly-exploring random tree(RRT) algorithm with the AUVMS kinematics model, the proposed RRTAUVMS algorithm could randomly sample in the configuration space(C-Space), and also grow the tree directly towards the workspace goal in the task space. The RRTAUVMS can also deal with the redundant mapping of workspace planning goal and configuration space goal. Compared with the traditional RRT algorithm, the efficiency of the AUVMS path planning can be significantly improved.