Unmanned Ship Path Planning Based on RRT

Path planning is a task of primary importance for unmanned ship, but current algorithms are complex and inefficient. In this paper, we propose a Rapidly-Exploring Random Tree algorithm (RRT) for path planning of unmanned ship, which can obtain an asymptotically optimal path planning in limited time. Moreover, an extension of RRT algorithm has been proposed to overcome the actual demand of multi-waypoint path planning for unmanned ship. The feasibility and effectiveness of the proposed algorithm was proved by simulation on MATLAB™ platform.