Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

Algorithm 1

Body of basic RRT algorithm [33].

Require: C-space , Free C-space , Initial state

   , Goal region , max searching iteration ;

Ensure: Feasible path

  (1) (); ; ; // Initialization

  (2) for do

  (3)       ; // Randomized sample in

  (4)       Extend(, ); // Extend random tree

  (5) end for

  (6) Export(); // Return the feasible path

  (7) return ;