DD-RRT path planning and guidance in heading-vector field for a UUV recovery

In this paper, the problem of the recovery path planning and guidance for UUV (Unmanned Underwater Vehicle) in unknown ocean environment is solved. First, a DD-RRT algorithm is proposed to construct the path avoiding obstacles and incurs the minimum cost from a starting point to a target point. Then UUV is guided along the planned path to the target point by heading-vector control. The algorithm is simple and subjects to the kinematics constraints of UUV. Simulation results prove the effectiveness of the algorithm.