Route Planning for UUV Based on Index Function Set Order

By analyzing the demands of route planning for unmanned underwater vehicle(UUV) carried by submarine, the high efficiency of dynamic planning algorithm and the problems caused by using a single index function in conventional dynamic planning are discussed. An improved method of index function set order is presented to enhance task adaptability. The operational opportunity and the program flow diagram are introduced. In this method,the single index function is replaced with a variable index function set. Simulation result shows that the improved method is efficient in the first step solution of route planning.