AUV Path Planning Algorithm for Terrain Aided Navigation

Terrain aided navigation (TAN) technology can yield accurate navigation results in long-endurance underwater operation of autonomous underwater vehicles (AUVs). Most TAN research focus on the high-precision terrain matching algorithms. However, terrain matching algorithms estimate the position of the vehicle by observing a unique combination of features in the terrain, making it difficult to locate a vehicle with flat terrain. This paper presents a path planning method for AUV seabed TAN process to decrease positioning errors by avoiding flat areas. In this paper, a TAN path planning algorithm based on sector search is proposed. Parameters of the sector search algorithm are determined through theoretical analysis, which means the generated path can stably provide accurate TAN location results. Meanwhile, a control coefficient is proposed to maximize the terrain information contained in the sector searching area, bring out a high success rate of AUV positioning. The TAN performance of the paths generated using the proposed path planning method was verified in simulations, which show that the TAN can yield accurate positioning results stably on the path planned.