The Research On Global And Local Path Planning For Autonomous Underwater Vehicle

Path planning is one of the key technologies of AUV(Autonomous Underwater Vehicle), and it represents the intelligence level of AUV to some extent. So, this paper studies systematically the path planning for AUV in a large sea environment with ocean current. The following aspects are investigated and discussed.Firstly, this paper introduces the development of robot and AUV, analyses the domestic and foreign research trends of AUV and introduces the background and the main content of this paper.Secondly, the definition and classification of robot path planning, some typical path planning approaches and the new research trends of path planning are elaborated. After analyzing the complexity of path planning in a large sea environment with ocean current and the shortcoming of the previous path planning approach, this paper presents a suit of path planning approaches from global to local.Finally, the two path planning approaches are elaborated differently, which are the Genetic Simulated Annealing path planning approach based on hierarchical model and the local path planning approach based on radar path planner. This paper elaborates the main idea, and some details of the two approaches. The simulation results of the two approaches are presented.