Energy-Efficient Path Planning for AUVs in Ocean Current Environments

This paper proposes an improved A* algorithm for Autonomous Underwater Vehicle (AUV) path planning, which considers AUV steering constraints, terminal heading angle requirements, and energy consumption optimization. The algorithm employs a cost function that considers both distance and energy consumption simultaneously, allowing the generated path to minimize propulsion demands while effectively avoiding obstacles. In addition, the heuristic function integrates the terminal heading angle constraint, ensuring the AUV arrives at its destination with the correct orientation. A path-smoothing strategy is also implemented to reduce the number of waypoints, thereby producing a smoother path without violating any of the defined constraints. Experimental results from two marine environments—Xin'an River and Dalian Sea—demonstrate that the proposed algorithm outperforms the standard A* algorithm in terms of path smoothness, energy efficiency, and meeting terminal heading angle constraints.