In this paper, a UUV (Unmanned Underwater Vehicle) recovery path planning method of a known starting vector and end vector is studied. The local structure diagram is designed depending on the distance and orientation information about the obstacles. According to the local structure diagram, a Rapidly exploring Random Tree (RRT) method with feedback is used to generate a 3D Dubins path that approaches the target area gradually, and the environmental characteristic of UUV reaching a specific target area is discussed. The simulation results demonstrate that this method can effectively reduce the calculation time and the amount of data storage required for planning. Meanwhile, the smooth spatial path generated can be used further to improve the feasibility of the practical application of UUV.

中文翻译：

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水下障碍物环境中UUV的反馈-Dubins-RRT恢复路径规划

本文研究了一种已知起始向量和结束向量的UUV（无人水下航行器）恢复路径规划方法。根据有关障碍物的距离和方向信息来设计局部结构图。根据局部结构图，使用带反馈的快速探索随机树（RRT）方法生成逐渐接近目标区域的3D杜宾斯路径，并讨论了UUV到达特定目标区域的环境特征。仿真结果表明，该方法可以有效地减少计算时间和规划所需的数据存储量。同时，所产生的平滑空间路径可进一步用于提高UUV实际应用的可行性。