Recovery Path Planning Algorithm Based on Dubins Curve for Autonomous Underwater Vehicle

The marine 3D environment for AUV work is quite complicated, and it is difficult to solve the recovery path directly. This paper adopts the recovery path planning algorithm based on Dubins Curve. When AUV enters the recovery area, the 3D planning is first reduced to the 2D xoy-plane planning and z-plane height planning. According to the current attitude of AUV and the final attitude required by the recovery platform, calculate all possible Dubins paths by a certain degree of repetition and relative positional relationship, and choose a collision-free shortest path in the xoy-plane. Then, the height planning of the obstacle avoidance is performed in the z-plane, and synthesize them to get a 3D recovery path. The simulation results show that the recovery path given by the proposed algorithm can make the AUV navigate underwater along the smooth trajectory of curvature, and safely enter the recovery platform from the designated position in the desired attitude.