Autonomous Underwater Vehicles(AUV) will play an important role inmarine development and future underwater warfare. In order to ensurethe safety of AUV navigation and improve its working efficiency, it isnecessary to conduct dynamic path planning research on AUV inspace-time environment. Through the constructed space-timeenvironment model and the multi-constraint function for pathoptimization model, combining the collision detection of dynamicobstacles and the proposed path planning strategy, the optimal path ofAUV in space-time environment is planned. Optimized by bidirectionalprogressive search linearization algorithm, avoiding frequent AUVsteering and improving the practicality of planning path. Finally, thesimulation experiment shows that the method is effective and feasible.
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