Augmented Reality Using for the Obstacles Avoidance Route Planning by an Autonomous Underwater Vehicle

The problem of forming a route for a large autonomous uninhabited underwater vehicle for laying cables on the seabed is considered. Due to the uneven topography of the seabed, there are areas where the cable can sag and develop premature defects. To avoid laying the cable in such dangerous zones, the operator who forms the route for the device considers them as obstacles and creates the shortest route bypassing these zones. Due to the large discreteness of existing bathymetric maps, it was necessary to reduce it. For this purpose, the Kriging method was used in the work, and fuzzy probabilistic analysis was used to identify zones. The results of the research made it possible to create an augmented reality graphical interface for the operator developing a route for laying cables on the seabed. Based on the results of the formation of dangerous zones in the form of obstacles, the shortest route to avoid obstacles was determined using Dijkstra's algorithm, which ensures minimization of the device's energy consumption in comparison with movement on other routes. On the digital map, it became possible to display the position of dangerous zones and the shortest route against the background of the seabed surface topography, as well as the ability to “play” the developed shortest route in a 3D image.