Global path planning methods of UUV in coastal environment
摘要
In coastal environment,the motion of unmanned underwater vehicle(UUV)is influenced significantly by complex current.The operational performance of UUV can be greatly improved when the impact of ocean current is considered.A global path planning method of the static obstacle environmental space is addressed in the paper.Firstly,according to the typically coastal vortex,a model of ocean current is proposed and the influence to the motion of UUV is analyzed.Secondly,to satisfy the rapid requirement in path planning,a heuristic A*algorithm is used to design global planning path with multiple constraints.Besides,to meet the UUV’s smooth path requirement,Bezier curve theory is applied.Simulation experiments are performed to illustrate the feasibility of the algorithm in the steady current and vortex environment.