To eliminate the effect of ocean currents for optimal path planning for unmanned underwater vehicles (UUVs) in the underwater environment, an intelligent algorithm is designed and proposed in this paper. The algorithm consists of two parts: an artificial potential field-based algorithm that derives the shortest path and avoids collision accidents; and an adjusting function that eliminates the effect of ocean currents. The planning results of the intelligent algorithm are presented in detail, and compared with the conventional algorithm that does not consider the effect of currents. The effectiveness of the optimised path planning method given in this paper is proved.

中文翻译：

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基于人工势场的无人潜航器消除水流影响的路径规划方法

为消除洋流对水下环境下无人水下航行器（UUV）最优路径规划的影响，本文设计并提出了一种智能算法。该算法由两部分组成：基于人工势场的算法，推导最短路径并避免碰撞事故；以及消除洋流影响的调节功能。详细介绍了智能算法的规划结果，并与不考虑电流影响的传统算法进行了比较。证明了本文给出的优化路径规划方法的有效性。