The method of formation of AUV smooth trajectory in unknown environment

The method of formation of smooth trajectories of the AUV movement during performing of missions in unknown environment is offered in paper. This method is based on use of the data from their onboard sensors of a distance and allows to correct the trajectory defines by means of Bezier's splines of the third order during AUV movement. Use of the offered approach allows to provide high precision and speed of the AUV movement during performing of their missions.