A Rapid Planning Repair Method of Three-Dimensional Path for AUV

In response to the local path planning issue encountered by Autonomous Underwater Vehicle (AUV) during autonomous navigation when facing sudden threats or obstacles, a rapid path planning repair solution based on the IRRT*-VSRP method is proposed in this paper. This method combines an enhanced RRT* algorithm with a threat-based variable step-size receding horizon predictive strategy, effectively reducing the search space in three-dimensional environments. Its notable features include rapid local path repair and generation, thereby improving the success rate and efficiency of planning. Simulation results demonstrate that the IRRT*-VSRP algorithm significantly reduces the time required for planning repair and enhances the directionality of tree expansion, rendering it suitable for complex underwater three-dimensional environments and enhancing the efficiency of AUV planning repair.