A Novel Algorithm for Autonomous Real-Time Route Planning ofAUV Based on Sub-Target and Level Set Method

To solve the unsafe obstacle avoidance and low planning efficiency problems resulted from the more idealized obstacle model of the current underwater obstacle avoidance route planning algorithm, an autonomous real-time route planning algorithm based on the sub-object method and level set method was proposed. Based on the partial contour information of obstacles detected by AUV(autonomous underwater vehicle) forward-looking sonar, the algorithm was arranged to estimate the size and center position of obstacles in stages, and then to obtain safe and reliable sub target points. And then, a rolling sub target method was used to realize complete obstacle avoidance and a level set method was used to improve the planning speed. The simulation results show that the novel algorithm can achieve 100% obstacle avoidance, and the performance quality of the route after obstacle avoidance appears a little debased than that of the global optimal route obtained by the level set method:the average increase of route length and sailing time are less than 5%.