C-space geometric theory applicated in AUV three-dimensional global path planning

A new methodologies based on C-space geometric theory was brought forward to solute the three-dimensional path planning in large environment for autonomous underwater vehicle (AUV). It's very important that the arithmetic can directly plan a valid path in three-dimensional environment with little information under a large area filled with specific objects. After describing the theory of C-space geometric and modelling the undersea 3-D environment, the arithmetic called as elastic-likeness was used to plan the path in environment of representative and complex obstacles. The simulation shows the validity of the path planning arithmetic for AUV.