Multi-target point TSP and optimized path planning for AUV based on 3D underwater digital topography

Based on the underwater digital topography, this paper investigates the multi-target point traveling salesman problem (TSP) and path planning smoothing optimization problem for Autonomous Underwater Vehicle (AUV) in underwater environments, combining the influence of ocean currents and the requirements of safety and energy consumption when navigating, and improved an algorithm suitable for underwater path planning. Firstly, distinguished from the traditional methods, the Digital Elevation Model (DEM) is introduced to create a map of the underwater environment with known terrain in order to simulate the underwater environment better. By adding the current factor to the map and applying it to the underwater path planning, the AUV successfully completes the path planning under the influence of the currents. As obstacles appear during navigation, the AUV can replan in real time to avoid the obstacles and ensure the safety of navigation. In planning, it is necessary to consider the weights between the target points, reasonably plan the path order, and convert the problem of the visiting order of target points into a TSP issue to find the optimal visiting order. Considering the kinematic characteristics of AUV on this basis, the path smoothing is carried out by using B spline curve to satisfy the kinematic constraints of AUV. Simulation analysis verifies the effectiveness of the proposed method.