Research on Autonomous Underwater Vehicles Path Planning Method and Its Obstacle Avoidance Solution
Chenguang Xu, Fuxiao Tan · 2024
With the advancement of technology, AUV plays an increasingly important role in marine resources exploration. Path planning technology is the basis for AUVs to be able to fulfill their mission. According to the algorithmic characteristics of AUV, this paper describes the principles of various typical algorithms from traditional to intelligent, including the raster method, A* $\mathbf{D}^{*}$ algorithm, genetic algorithm, artificial potential field method, ant colony optimization, reinforcement learning, neural network algorithm, and deep reinforcement learning algorithm. Then, the advantages and disadvantages of various algorithms and the specific application status are analyzed, and the intelligent algorithms are emphatically discussed. Finally, some directions that may be worth studying in the future of path planning are prospected.