Three-dimensional path planning for AUV

The authors present a method of 3-D path planning for AUVs (autonomous underwater vehicles). It combines vertical planning and horizontal planning. Thus, a relatively good path among 3-D obstacles can be found directly in the original environment. The authors present some strategies, including static and dynamic cutoff, characteristic plane, and learning and evolving, to raise the efficiency. Experiments showed that the method was very efficient.<
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