Liveness-Based RRT Algorithm for Autonomous Underwater Vehicles Motion Planning

Algorithm 2

Liveliness-based RRT algorithm.

Require: C-space , Obstacle space , Initial point

    , Goal region , Discrete input set ,

    Maximum search steps ;

Ensure: Feasible trajectory

  (1)  ; ; ; Liveness set

     // Initialization

  (2) for do

  (3)   

  (4)   if then

  (5)        

  (6)        ;

  (7)        for each do

  (8)           if then

  (9)            

  (10)           end if

  (11)    end for

  (12)   else

  (13)     if then

  (14)           

  (15)    else

  (16)           

  (17)           

  (18)    end if

  (19)   end if

  (20)  

  (21)   if then

  (22)     ;

  (23)  end if

  (24)  if then

  (25)      

  (26) end if

  (27)   for all do

  (28)     

  (29)   end for

  (30) end for

  (31) return if ; else failure