Multi-Auv Path Planning for Underwater Video Surveillance Over an Uneven Seafloor

This paper proposes a trajectory planning strategy for multiple AUVs to enhance video monitoring of underwater regions with uneven seafloors. The approach ensures full coverage by identifying key waypoints through an adaptation of the 3D Art Gallery Problem to minimize the required waypoints. The heights of these waypoints are set to ensure complete coverage, then clustered and assigned to AUVs. Each AUV's path is optimized using the Nearest Neighbor (NN) method for the Traveling Salesman Problem (TSP), adhering to kinematic constraints. The method's performance is validated via computer simulations.