Path planning algorithm for autonomous underwater vehicle

A path-planning algorithm for Autonomous Underwater Vehicle (AUV) while going across a minefield was proposed. The path planning includes two parts, global path planning and local path planning. The Voronoi diagram of mine distribution was established, and then global optimal path was planned using genetic algorithm. Looking forward sonar is used as measuring instrument while AUV tracks the global optimal path. A fuzzy inference system (FIS) was designed to derive the obstacle-avoiding angle based on the position relationship of the AUV and the obstacle, and then the local path planning was achieved. Simulation results show the efficiency of the algorithm.