Research on Dynamic Planning Method for Safe Path of UUV in Complex Fishing Net Deployed Waters

In response to the problem of long path planning time and poor maneuverability in avoiding close-range fishing nets in the complex fishing net deployment area of UUV in the near sea, this paper proposes a fusion algorithm combining improved RRT algorithm and improved DWA algorithm. In the sampling stage, the sampling point is adaptively moved a certain distance toward the task point to improve the directionality of the tree growth. When the expansion encounters obstacles, the algorithm will use steering and reselection strategies to solve the problems of blindness and the long path planning time of the RRT algorithm. After obtaining the global path, the sub-goal point for local dynamic path planning is adaptively selected according to the smoothness of the path to reduce the turning radius. In terms of dynamic obstacle avoidance, a fishing net obstacle avoidance strategy is added to the DWA algorithm to improve UUV ability to avoid close-range fishing nets. Simulation results show that the algorithm can plan a global path in a short time in complex sea areas and has a fast response speed to close-range fishing nets, making effective obstacle avoidance decisions and proving the effectiveness and practicability of the algorithm.