A Survey on Route Planning Methods of AUV Considering Influence of Ocean Current

When AUV travel in the ocean, it will unavoidably be affected by the current. Different from the ground and air environment, the influence of ocean current on AUV route planning is much greater than that of wind to ground robot and air UAV path planning. Firstly, we describe the research status of intelligent optimization algorithm combined with ocean current in the field of AUV route planning and optimization in detail and analyze the planning performance and adaptive scenario of different algorithms in the flow environment. Secondly, the application of classical optimization and planning algorithm under the influence of ocean current in AUV route planning is reviewed. The analysis shows that the A* algorithm and the level set algorithm combined with the ocean current get more attraction. Thirdly, the difference between the path planning of the robot and route planning of the AUV is compared and the total research distribution of the AUV route planning algorithm considering the influence of the sea current after 2000 is given. Finally, we propose that the extension research based on A* algorithm and level set method should be the future development of AUV route planning in the real ocean environment.