3D Obstacle Avoidance Path Planning Algorithm and Software Design for UUV Based on Improved D* Lite-APF

To meet the development requirements of the path planning unit for unmanned underwater vehicles (UUVs), research is conducted on UUV 3D obstacle avoidance path planning algorithms and software design. Firstly, aiming at the problem of underwater 3D obstacle avoidance path planning for UUVs, a global path planning algorithm based on the improved D* Lite is designed, and a local path planning algorithm combining the 3D obstacle avoidance strategy and the improved artificial potential field (APF) algorithm is designed. Secondly, based on the above path planning algorithms, a UUV 3D obstacle avoidance path planning software is developed under the Robot Operating System 2 (ROS2) framework and deployed on an Orange Pi 5B. To test the algorithms and the developed software, a UUV autonomous navigation hardware-in-the-loop (HIL) simulation system is constructed. Finally, based on this system, three types of HIL simulation experiments are conducted, including global path planning, local path planning, and comprehensive obstacle avoidance path planning. The simulation experiments show that the improved D* Lite-APF algorithm has better comprehensive performance than the traditional D* Lite-APF algorithm; the path planning software can guide the UUV to reach the goal point safely and runs stably and reliably. The designed UUV 3D obstacle avoidance path planning algorithm and software exhibit good obstacle avoidance performance and can be applied to the rapid development of actual UUV path planning units.