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- W4386066050 abstract "For the local path planning problem of autonomous underwater vehicle (AUV) in unknown complex obstacle environment, the traditional Dynamic Window Approach (DWA) algorithm has problems such as easy to fall into local stagnation in complex obstacles. A path planning algorithm based on the fusion of Improved DWA and Rapid-exploration Random Tree (RRT) algorithms is proposed. The improved DWA algorithm velocity space is generated according to the period of the whole dynamic window and resets the evaluation function; the improved RRT algorithm plans guide points in the local known space to help DWA out of the local stagnation state. The two algorithms are fused to achieve local path planning for AUV in unknown complex underwater environment. Simulation shows that this fusion algorithm can plan a safe and feasible navigation path for AUV in unknown complex obstacle environment." @default.
- W4386066050 created "2023-08-23" @default.
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- W4386066050 date "2023-08-06" @default.
- W4386066050 modified "2023-09-27" @default.
- W4386066050 title "AUV Local Path Planning Based on Fusion of Improved DWA and RRT Algorithms" @default.
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- W4386066050 doi "https://doi.org/10.1109/icma57826.2023.10216263" @default.
- W4386066050 hasPublicationYear "2023" @default.
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