Real-time AUV Path Planning Algorithm in Complex Marine Environment

Abstract

To solve the problem of AUV path planning in complex marine environment, this paper proposes a real-time path planning algorithm that can be used under the influence of multiple marine environment elements based on the level set algorithm, combined with the idea of artificial potential field and adaptive rolling window: firstly, Artificial potential field is introduced in the algorithm to vectorize various ocean environment elements such as water depth and construct a level set function related to the environment closely; secondly, in a dynamic ocean environment, by limiting the evolve of the zero level set curve in the adaptive rolling window internally to realize real-time AUV path planning. Based on the real marine environmental data, a three-dimensional marine environmental model is established. The simulation results show that the algorithm proposed in this paper can adjust the path in time according to the dynamic changes of the complex marine environment, and obtain the path trajectory with the best evaluation value.