A New Method for Fast Path Planning of Underwater Vehicle in the Shallow Sea Environment

Abstract

In view of the problem that the optimal solution quality of classic path planning methods for underwater vehicle is not good enough to guarantee that there has the best path in the complex environment of shallow coastal waters. A new fast path planning method for complex shallow sea environment is proposed in this paper. The method uses inner and extra loop search strategies to ensure that the planned path is globally optimal. The simulation results show that the new method can find an optimal path rapidly between the starting point and the destination point under the premise of avoiding reefs and other risks. Considering the voyage constraints, energy constraints, exposure risks and special shallow sea working environment comprehensively, the new method is more suitable for the fast path planning of underwater vehicle than the traditional A* algorithm.