A Path-Planning Method Considering Environmental Disturbance Based on VPF-RRT*

A Path-Planning Method Considering Environmental Disturbance Based on VPF-RRT*

In the traditional rapidly exploring random tree (RRT) algorithm, the planned path is not smooth, the distance is long, and the fault tolerance rate of the planned path is low. Disturbances in an environment can cause unmanned surface vessels (USVs) to deviate from their planned path during navigati...

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Bibliographic Details
Main Authors: Zhihao Chen, Jiabin Yu, Zhiyao Zhao, Xiaoyi Wang, Yang Chen
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Drones
Subjects:
unmanned surface vessel
path planning
rapidly exploring random tree algorithm
path tracking
diagonal recurrent neural networks
PI controller
Online Access:https://www.mdpi.com/2504-446X/7/2/145

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