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In this paper, through the application research of underwater gliders, it is found that ocean currents are the major influencing factor in the practical application of gliders. The objective of this study is to solve the path planning of glider formation in time-varying ocean currents. Using the existing glider model, energy consumption model and time-varying ocean current model are established based on the existing data, and a model close to the practical application of glider formation is established as well. The existing RRT algorithms are improved to be OCi-RRT (Ocean current improved RRT) algorithms based on environmental ocean currents. the algorithms are used to solve the path planning problems encountered in the practical application of gliders. Through simulations that are close to the restrictions of reality and the ideal communication state, it indicates that the improved RRT algorithms are suitable for path planning of glider formation in real ocean current environments. Then, a large number of simulation experiments are conducted, the results show that OCi-RRT&#x002A; can reduce the number of cycles and path length by up to 14&#x0025;, and the unit energy utilization can increase by up to 25&#x0025; comparing with the RRT algorithm.

Improved RRT Algorithms to Solve Path Planning of Multi-Glider in Time-Varying Ocean Currents