Three-dimensional Path Planning for UUV with Multiple Constraints
Tao Chen · Torpedo Technology · 2011
A three-dimensional(3D) path planning approach on the basis of safe sail surface and threat map is proposed for a UUV in multi-constraint condition.A safe sail surface is constructed to predigest the 3D search space,reducing the 3D path planning to 2D path planning.Then,a threat map is established for unification of hostile threat and terrain threat,and a threat cost and threat level heuristic factor are introduced.In the end,the A* algorithm is applied to path search to obtain an optimum path.Simulation results illustrate that the proposed approach is simple and fast,and the generated path can meet the requirements of terrain following,terrain evading and threat evading.