Unmanned Underwater Vehicle Path Planning Based on Improved Hybrid A* Algorithm

In the marine environment, unmanned underwater vehicle (UUV) path planning is a prerequisite for other scientific research tasks. Aiming at the low search efficiency of many current path algorithms and the fact that the planned path does not meet the kinematic constraints, this paper makes corresponding improvements based on the hybrid A* algorithm to enhance the algorithm search efficiency and make the planned path meet the kinematic constraints. This paper first introduces the basic principle and heuristic function of the hybrid A* algorithm, the basic form of the cost function, and then redesigns the heuristic function and cost function to reduce the number of invalid node extensions in the algorithm. Finally, through three sets of simulation experiments, it is verified that the improved hybrid A* algorithm can plan a safe and working path for UUV with higher search efficiency.