Path Planning for USV with FG-DA-RRT Algorithm

Rapidly exploring Random Tree (RRT) algorithm for path planning has some shortcomings, such as a slow resolution for nearest node, polyline path, and so on. A Fibonacci initial trimming and Geometry trimming for the path of a Diagonal distance and Angle RRT (FG-DA-RRT) is proposed to plan the path for Unmanned Surface Vessels (USV). FG-DA-RRT has two characteristics, one is that the diagonal distance with the angle value is instead of the traditional Euclidean distance to calculate the nearest neighbors, which improves the speed of the neighboring nodes. The other is, a smooth path for FG-DA-RRT is modified by Fibonacci search method and geometric principle. Finally, FG-DA-RRT is applied to plan the path for USV in simulations. Simulation results indicate FG-DA-RRT has a super performance than RRT and RRT-Connect.