Dynamic path optimization study of surface cleaning vessel based on improved RRT

This study addresses key issues in aquatic ecological environment management by designing a novel surface cleaning vessel and proposing an improved path planning algorithm. This study addresses key issues in aquatic ecological environment management by designing a novel surface cleaning vessel and proposing an improved path planning algorithm. The cleaning vessel adopts a modular design, comprising the hull, navigation components, transportation components, and collection components, enabling efficient garbage collection in narrow and complex waterways. algorithm integrates target sampling rate and dynamic step adjustment strategies to enhance path planning efficiency and precision. Additionally, a bidirectional pruning method is used to ensure the accuracy of path planning. Additionally, a bidirectional pruning method is introduced to optimize the path by eliminating redundant nodes, resulting in smoother and more efficient routes. Compared to the A*, D*, and RRT-connect algorithms, the proposed method reduces path length by 4%, 4%, and 12.2%, respectively. Experimental results demonstrate that the improved cleaning vessel system and algorithm significantly shorten path lengths, enhance garbage collection efficiency, and Experimental results demonstrate that the improved cleaning vessel system and algorithm significantly shorten path lengths, enhance garbage collection efficiency, and reduce resource consumption, providing essential technical support for aquatic pollution management.