This study focuses on the improvement of path planning efficiency for underwater gravity-aided ***,a depthsortingfastsearch(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring R...
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This study focuses on the improvement of path planning efficiency for underwater gravity-aided ***,a depthsortingfastsearch(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered ***,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation ***,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,*** results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results.
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