Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

Figure 8

Planning with the same conditions by RRT. Start position locates at 157°58′30′′W, 21°20′29′′N; Goal locates at 157°57′47′′W, 21°21′14′′N, shown as a solid blue circle. Red line describes a valid path from start to goal.

(a) RRT with 2075 iterations

(b) RRT with 3093 iterations