Abstract:Path planning is the precondition for Hybrid Autonomous Underwater Vehicles (HAUV) to enter the submerged area to undertake a mission. The influence of ocean currents on HAUV should be further investigated to obtain a time-optimal path. The improved A* algorithm and the neural network model are employed in this paper to plan a time-optimal path for the vehicle. The HAUV in glider mode is capable of traveling forward mainly through the zigzag motion in vertical plane. Since the vehicle can only receive the comm… Show more
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