Abstract

Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

中文翻译：

---

自主水下航行器安全导航算法

摘要

描述了两种自主水下航行器的安全导航算法：避免点障碍​​物的算法，包括所有移动的水下和水面物体，以及有限尺寸的底部物体，以及绕过扩展障碍物的算法，如底部高程、粗糙的下冰边缘、垃圾块. 这些算法是为重型自主水下航行器的控制系统开发的。