Gaussian Sampling Path Planning of Ship Assembly/Disassembly Based on RRTConCon Algorithm

The parts need to be moved in/out from the equipment in ship cabins with a proper and feasible path when the Assembly/Disassembly is implemented.Usually,motion planning is used to find the Assembly/Disassembly path.Among the existing motion planning algorithms,RRTConCon algorithm has higher efficiency than that of other algorithms and is suitable for the motion planning of ship parts＇ Assembly/Disassembly,but it has low efficienccy with motion planning for narrow passages in ship cabins because of the random adding of free configurations.So,we proposed one kind of RRTGaussion algorithm with Gaussion sampling based on RRTConCon algorithm.The algorithm used the Gaussian sampling strategy that sampled less in large open regions while more in complex regions and narrow passages,and then based on this the local planner was used to try to connect these samples with a path.The proposed algorithm was validated in virtual environment.The experiments show that in solving the motion planning problems for narrow passages in ship cabins,the proposed RRTGaussion algorithm has higher efficiency than RRTConCon algorithm.