The Research Of Octree-based 3-D Global Path Planning Of Autonomous Underwater Vehicle

The work of this thesis stems from National Defense' s preliminary research project ?"The Distributed Controls of Multi- autonomous Underwater Vehicle" . And the emphasis of this thesis is the research of the 3-Dimensional Global Path Planning for autonomous underwater vehicle (AUV).In this paper, above all, concisely introduced knowledge about autonomous underwater vehicle, such as interrelated brief, dynamic research developments, background and meaning of this thesis. Then analyzed research status about global path planning(GPP), along with some unique GPP methods. Simulation experiments by using famous A* algorithm for 2-D GPP, gained some crucial beneficial experience. As the main of the thesis, focused great attention on the data structure of octree and distance transform path planning method, as well as algorithm of base on octree environment applying distance transform for 3-D GPP, in the end, tested the algorithm on the simulation system.The results of this paper are of great significance to the AUV s autonomous navigation and application of data structure of quadtree and octree.