Improved RRT Algorithm for AUV Target Search in Unknown 3D Environment

Due to the complexity of marine environment, underwater target search and interception is one biggest problems faced by an autonomous vehicle (AUV). At present, there quite a lot research in terms two-dimensional environment. This paper proposes improved rapidly exploring random trees (RRT) algorithm solve problem unknown three-dimensional (3D) The RRT combined with rolling planning node screening realize path then applied process 3D Combined decision function three-point numerical differential prediction method, can for effectively intercept target. Numerical simulations various situations show superior performance, time accuracy, proposed approach.