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This study presents an integrated framework for three-dimensional (3D) path planning and tracking for the NPSAUV in complex, obstacle-rich environments. The methodology first employs the Rapidly Exploring Random Tree Star (RRT*) algorithm to establish an initial collision-free trajectory. This trajectory is then optimized into a cost-effective waypoint path, which serves as the reference for a Line-of-Sight (LOS) guide system. The LOS system, in turn, generates the desired heading and pitch angles required for navigation. To execute these guidance commands, a robust controller is developed. The comprehensive dynamic model of the NPSAUV is first simplified by decoupling its horizontal and vertical plane dynamics. Based on this simplified model, backstepping sliding mode control theory is applied to formulate the control laws for the rudders. This hierarchical approach enables precise 3D path tracking. Simulation results confirm the framework’s efficacy, demonstrating excellent obstacle avoidance performance and high-precision tracking in the 3D space.

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An Integrated Framework for AUV 3D Path Planning and Path Tracking Based on an Improved RRT* Algorithm

  • 会议论文

  • 发表日期：

    2026年

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  • Huaiqing Yang,
  • Chunjia Zhu,
  • Sijia Xia,
  • Jian Gao,
  • Shaowen Hao

摘要

This study presents an integrated framework for three-dimensional (3D) path planning and tracking for the NPSAUV in complex, obstacle-rich environments. The methodology first employs the Rapidly Exploring Random Tree Star (RRT*) algorithm to establish an initial collision-free trajectory. This trajectory is then optimized into a cost-effective waypoint path, which serves as the reference for a Line-of-Sight (LOS) guide system. The LOS system, in turn, generates the desired heading and pitch angles required for navigation. To execute these guidance commands, a robust controller is developed. The comprehensive dynamic model of the NPSAUV is first simplified by decoupling its horizontal and vertical plane dynamics. Based on this simplified model, backstepping sliding mode control theory is applied to formulate the control laws for the rudders. This hierarchical approach enables precise 3D path tracking. Simulation results confirm the framework’s efficacy, demonstrating excellent obstacle avoidance performance and high-precision tracking in the 3D space.