An Improved A* Path Planning Algorithm of Autonomous Underwater Vehicles

With the rapid increase in ocean exploration ac-tivities, more and more underwater vehicles for autonomous path planning ability have been designed and developed. There are many limitations on path planning using traditional A* algorithm, such as too many nodes, too many turning times and too small turning angles, and the designed path is not conducive to movement towards autonomous underwater vehicle (AUV). In order to overcome the aforementioned shortcomings, an improved A * algorithm employing path optimization is used to carry out smooth and optimization of the motion path of the AUV. Effectiveness and efficiency optimization of the improved algorithm are verified by simulation studies.