The Research On Hierarchical Global Path Planning For Autonomous Underwater Vehicle

Global path pltring is one of the key tecbnologies of AUV(AutonomousUnderwater Vehicle), and it represents the intelligence level of AUV in someways. So, this paPer stUdies systematically the global path pltring for AUV in alarge sea enviroriment with ocean current. The fOllowing aspects are investigatedand discussed.Firstly, this paPer introduces the development of robot and AUV analyses thedomestic and fOreign research trends of AUV and introduces the background andthe main content of thes task.Secondly, some basal globa1 path pledng aPproaches and the new researchtrends of global path plarming are elaborated. After analyzing the complexity ofpath plaImng in a large sea environment with ocean current and the shortcomingof the previous path pltring aPproach, this paPer presents the main idea of thehierarchical path plaIming aPproach.Finally, two different aPproaches to implement the hierarchical path planningaPproach are elaborated which are the hierarchical path planning aPproach basedglobal model and the hierarchical path p1anning aPproach based local model. Thispaper elaborates the main idea and some details of the two approaches thatinclude labeling areas, choosing the source node and the target node, searchingthe neighbor nodes, choosing the evaluation fimction and dealing with the failure.The simulation results of the tWo aPproaches are presented.