A path planning method for long-range autonomous underwater vehicle in ocean current environment

Abstract

The present application relates to underwater robot technology, aiming at providing a long-range autonomous underwater robot sea current environment path planning method. The method is to divide the path planning problem into two parts: first, the environmental feature points are used to construct a directed graph and obtain a reference path, so as to quickly locate the area of the optimal path under the influence of sea current; Then the reference path area is regarded as the key area, the obtained polyline reference path is fitted into a curvature continuous curve reference path, and a key search area is divided near the curve reference path; An intelligent optimization algorithm is used to further optimize the path to obtain a time optimal path. The present application can be directly applied to the planning problem with high calculation time requirement, can better avoid falling into local optimal solution and the calculation result is stable; In the optimization process, it is largely avoided to sample in the navigation obstacle area to generate infeasible path, which improves the calculation efficiency of the algorithm and makes the application range of the algorithm wider.

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