Planning repair for autonomous underwater vehicle

Based on combining the dynamic weight LPA* algorithm with the threat-based variable steps rolling time domain prediction strategy, a method of planning repair for autonomous underwater vehicle(AUV) in the process of performing job tasks was proposed which required to deal with the complex and uncertain operating environment. This method solved the problem of planning repair when the AUV encountered unexpected threat during the voyage. Combined with AUV autonomous navigation tasks, the proposed planning repair method was tested and verified by visual simulation. The results show that this method is feasible and effective compared with the completely replanning, and improves the AUV planning success rate and efficiency, shortens the planning time. This method meets the real-time performance requirement.