Path Planning for AUVs with Energy-Optimal Velocity in Current Fields

Abstract This paper presents the energy-optimal velocity to solve problem of path planning for autonomous underwater vehicles (AUVs) in current fields. In proposed scheme, a sequence thrust velocities and steering directions is predicted enable utilize/avoid currents minimize their energy consumption. Each direction are deduced through vector analysis method under expected displacement corresponding vector, which velocity. The combines global optimization technique guarantees minimization vehicle’s Several experiments performed on strong turbulent fields validate effectiveness scheme.