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

Table 1

Center point coordinates and parameters of obstacles.

Obstacle number	Coordinate (m)	(m)	(m)	(m)
1	(100, 200, 435)	30	40	13
2	(440, 300, 425)	50	30	15
3	(440, 740, 300)	40	30	40
4	(900, 600, 430)	40	30	14
5	(550, 550, 325)	32	40	25
6	(750, 150, 450)	20	20	10
7	(900, 900, 325)	60	50	35