Affiliation:
1. College of Electronic Science and Engineering, Jilin University, Changchun 130012, China
Abstract
In this paper, we present a novel three-dimensional spatial path planning algorithm based on the Vector Field Histogram* (VFH*) approach, specifically tailored for underwater robotics applications. Our method leverages the strengths of VFH* in obstacle avoidance while enhancing its capability to handle complex three-dimensional environments. Through extensive simulations, we demonstrate the superior performance of our algorithm compared to traditional methods, such as RS-RRT algorithm. Our results show significant improvements in terms of computational efficiency and path optimality, making it a viable solution for real-time path planning in dynamic underwater environments.
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