Method of designing optimal smooth way for vehicle

In the field of path planning for autonomous underwater vehicle, the factors to be considered are not only the length of the path, but also the limits of the resource consumed by the vehicle which the ocean current has great influence on. With respect to the influence of ocean current on path planning, a method of constructing the model for the dynamic ocean current with B-spline surface was introduced. Besides of that, the influence of ocean current is regarded as the constraint function implemented into path planning, so when searching for the path, the vehicle could take the path length and energy expense into account in the heuristic function and find the optimal path. On the other hand, as the ocean current has the property of anisotropy and time varying, the modification is made to the algorithm of path planning and the vehicle could avoid running into the rip current and make improvement in the designed path based on the dynamic information with the model of ocean current. Throughout the simulation, these methods could utilize the ocean current to reduce the cost of energy and change the path according to the dynamic ocean current, which could also satisfy the restriction on safety running, the limits of resource and the optimization in length of path.