A Navigation Algorithm for UUVs to Avoid Shape Changeable Obstacles

In order to guide an undersea unmanned vehicle (UUV) avoiding obstacles in an underwater environment, an navigation algorithm is proposed in this paper. It can be applied to planar environment, the shape of obstacles could be changeable. This method combines local path planning and global path planning together, switching between two modes so as to safely navigate the UUV’ s way. In order to show the performance of the proposed algorithm, the simulation results are presented by Matlab. The reason why we promoting this algorithm is that it is a computational efficient algorithm, comparing with the prior ones, the cost could be saved while achieving the expected results successfully.