Path planning in stronger ocean current for underwater glider

摘要

Path planning of underwater glider in stronger ocean current field is researched. Firstly, we established the ocean current model and the motion model of the glider in current environment. According to current forecast, the wavefront algorithm and A∗ algorithm were used to get the optimal path respectively. When the time spent on the distance between the start and the destination beyond the current forecast period, we designed segmented path planning algorithm. The results shows that A∗ algorithm not only has high search efficiency but also adapts to the whole and segmented path planning.