Path planning for 3D coastal navigation of underwater structures

For autonomy of unmanned underwater vehicles(UUV) around a Jacket underwater structure, we introduce a path planning algorithm for 3D costal navigation under the sea, and we also show some positional information sources on a Jacket underwater structure. With a 3D Jacket structure model and a UUV model we had simulation experiments for the coastal navigation using our proposed algorithm. The experimental results show that our proposed algorithm generates useful paths for 3D costal navigation around a Jacket underwater structure.