MDPI - Publisher of Open Access Journals

19 pages, 2464 KB

Open AccessArticle

Research on Formation Path Planning Method and Obstacle Avoidance Strategy for Deep-Sea Mining Vehicles Based on Improved RRT*

by Jiancheng Liu, Yujia Wang, Hao Li, Pengjie Huang, Bingchen Liang, Haotian Wu and Shimin Yu

J. Mar. Sci. Eng. 2026, 14(2), 138; https://doi.org/10.3390/jmse14020138 - 9 Jan 2026

Abstract

To enhance the autonomous operation capability of deep-sea mining vehicle formations, this study addresses the issues of slow convergence in formation path planning and insufficient obstacle avoidance flexibility under complex environments by investigating a global path planning and local obstacle avoidance strategy based on an improved RRT algorithm*. Through dynamic elliptical sampling, adaptive goal-biased sampling, safe distance detection, and path smoothing optimization, the efficiency and passability of path planning are improved. For the obstacle avoidance of formation members, a priority determination model incorporating local obstacle avoidance, formation contraction, and transformation is designed, and methods such as Gaussian distribution fan-shaped sampling and trajectory backtracking are proposed to optimize the local planning effect. Simulation results show that this method can effectively improve the path planning quality and obstacle avoidance performance of mining vehicle formations in complex environments. Specifically, when in a longitudinal formation, the maximum inter-vehicle error is approximately 15.1%, and the average error is controlled within 3.5%; when in a triangular formation, the maximum inter-vehicle error is approximately 20%, and the average error is controlled within 4.2%, indicating promising application prospects. Full article

(This article belongs to the Section Ocean Engineering)

► Show Figures

Figure 1

26 pages, 14021 KB

Open AccessReview

A Review of Plume Research in the Collection Process of Deep-Sea Polymetallic Nodules

by Lixin Xu, Xiu Li, Yajiao Liu, Peilin Dou, Zhichao Hong and Chaoshuai Han

Water 2024, 16(23), 3379; https://doi.org/10.3390/w16233379 - 24 Nov 2024

Cited by 2 | Viewed by 4352

Abstract

The plumes generated during the collection of polymetallic nodules in the deep sea may have a significant impact on the marine ecosystem. Therefore, this article reviews the progress in deep-sea mining and monitoring technologies related to plumes. It is suggested that specific areas of environmental interest (APEIs) and positive altitude characteristic regions (such as seamounts and hills) in the process of polymetallic nodule collection can serve as refuges for benthic organisms and provide a biological basis for the recovery of biodiversity in mining areas. Water-supported vessels, pipeline lifting systems, and hydraulic collection methods are the least disruptive and most promising methods. By sorting out the deep-sea mining process, plumes can be roughly classified into seabed disturbance plumes and tailing plumes. The best way to address plume formation is at the source when developing environmentally friendly mining vehicles. The evaluation of plumes is crucial for the sustainable development of the environment and seabed resources. However, the mechanism is not clear at present. Therefore, laboratory simulation and in situ monitoring need to be coordinated, and attention should be paid to the impact on benthic marine organisms as much as possible during original operations. Plume research in the deep-sea mining process will also provide favorable support for the possible future development of seabed resources. Full article

(This article belongs to the Special Issue Emerging Challenges in Ocean Engineering and Environmental Effects)

► Show Figures

Figure 1

Search Results (2)

Further Information

Guidelines

MDPI Initiatives

Follow MDPI

Saved Queries

Search Filter Reset All

Years

Feature Papers

Subjects

Journals

Article Types

Countries / Regions

Search Results (2)

Further Information

Guidelines

MDPI Initiatives

Follow MDPI