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UUV Off-Line Path Planning Based on Improved A* Algorithm

In this paper, an improved A* algorithm for off-line path planning of unmanned underwater vehicle (UUV) is proposed, which is designed for underwater recovery in the known marine environment. Firstly, the principle of traditional A* algorithm and the flow of the algorithm are expounded. Then, the disadvantages of traditional A* algorithm and the seaworthiness of the planned path are analyzed. The searchable neighborhood is introduced and combined with A * algorithm to design the offline path planning method in UUV recovery process under the known marine environment. Besides, a new cost function and heuristic function are obtained. Finally, using MATLAB simulation software, some simulation experiments are designed to verify the feasibility of the design method.