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Open AccessArticle
VK-RRT*: A Multi-Constraint Coupling Approach to Energy-Efficient AUV Path Planning in Three-Dimensional Ocean Current Environments
by
Ziming Chen
Ziming Chen
,
Jinjin Yan
Jinjin Yan
Huiling Zhang
Huiling Zhang
Xiuyan Peng
Xiuyan Peng
1
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
2
Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266404, China
3
Yangtze Delta Region Advanced Research Institute of Harbin Engineering University, Nantong 226000, China
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2026, 14(10), 919; https://doi.org/10.3390/jmse14100919 (registering DOI)
Submission received: 15 April 2026
/
Revised: 11 May 2026
/
Accepted: 13 May 2026
/
Published: 16 May 2026
Abstract
To address unclear multi-constraint coupling mechanisms, energy estimation errors, and poor dynamic feasibility in autonomous underwater vehicle path planning, this paper proposes an energy-efficient velocity-kinodynamic rapidly exploring random tree star algorithm. The method integrates a velocity–energy model, a velocity–curvature model, and a velocity–safe-distance model into a planning framework. Four targeted improvements are incorporated: a potential-field-guided sampling, an adaptive step-length expansion, a kinodynamic feasibility constraint, and a multi-objective cost function. Simulation experiments across four scenarios and five start–goal tasks show that the proposed method eliminates all curvature violations, reduces propulsion energy by up to 49.4% and improves mean minimum obstacle clearance by 34.2% and 47.4% over the two baselines. Ablation studies confirm that each module contributes to overall performance.
Share and Cite
MDPI and ACS Style
Chen, Z.; Yan, J.; Zhang, H.; Peng, X.
VK-RRT*: A Multi-Constraint Coupling Approach to Energy-Efficient AUV Path Planning in Three-Dimensional Ocean Current Environments. J. Mar. Sci. Eng. 2026, 14, 919.
https://doi.org/10.3390/jmse14100919
AMA Style
Chen Z, Yan J, Zhang H, Peng X.
VK-RRT*: A Multi-Constraint Coupling Approach to Energy-Efficient AUV Path Planning in Three-Dimensional Ocean Current Environments. Journal of Marine Science and Engineering. 2026; 14(10):919.
https://doi.org/10.3390/jmse14100919
Chicago/Turabian Style
Chen, Ziming, Jinjin Yan, Huiling Zhang, and Xiuyan Peng.
2026. "VK-RRT*: A Multi-Constraint Coupling Approach to Energy-Efficient AUV Path Planning in Three-Dimensional Ocean Current Environments" Journal of Marine Science and Engineering 14, no. 10: 919.
https://doi.org/10.3390/jmse14100919
APA Style
Chen, Z., Yan, J., Zhang, H., & Peng, X.
(2026). VK-RRT*: A Multi-Constraint Coupling Approach to Energy-Efficient AUV Path Planning in Three-Dimensional Ocean Current Environments. Journal of Marine Science and Engineering, 14(10), 919.
https://doi.org/10.3390/jmse14100919
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