3D Trajectory Planning Method Considering Geometric Constraints

During the operation of TAN (Terrain Aided Navigation), AUVs (Autonomous Underwater Vehicles) must maintain a low altitude from the bottom and go through a seabed areas with rich terrain features to ensure the effectiveness of sonar detection and the accuracy of TAN. Therefore, this paper studies the path planning problem of long-distance TAN system considering constraints such as seabed fluctuations and terrain adaptability. A path optimization model under multiple constraints and a path optimization method based on genetic algorithm are proposed, which solves the problem of unifying the constraints of different properties of TAN path and effectively improves the effectiveness of path planning.