A UUV Traversal and Obstacle Avoidance Search Algorithm Based on Adaptive Ocean Current Direction

Adopting appropriate traversal path planning algorithms can effectively solve the problem of UUV task area coverage search. Autonomous unmanned aerial vehicles have their own underactuated characteristics, and when they are subjected to underwater ocean currents, especially in the direction of cross flow, the accuracy of the autonomous unmanned aerial vehicle's tracking path will be greatly reduced. In response to the above issues, this article proposes a simple and convenient unmanned autonomous vehicle coverage traversal obstacle avoidance search algorithm that can adapt to the direction of ocean currents, providing engineering practical value for the high airworthiness and high followability of search paths. The numerical simulation results show that, the coverage traversal method proposed in this article can enable autonomous unmanned aerial vehicles to mainly plan in a collinear manner with ocean currents, reducing the length of the cross flow direction path and improving the accuracy of tracking paths.