Feedback-Dubins-RRT Recovery Path Planning of UUV in an Underwater Obstacle Environment

Figure 3

The recovery path generated by the Feedback-Dubins-RRT algorithm: (a) three-dimensional graph of the second node generated, (b) top view of the second node generated, (c) three-dimensional graph of the fourth node generated, (d) top view of the fourth node generated, (e) three-dimensional graph of the sixth node generated, (f) top view of the sixth node generated, (g) three-dimensional graph of the eighth node generated, (h) top view of the eighth node generated, (i) three-dimensional graph of all the nodes generated, and (j) top view of all the nodes generated.

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