AUV global path planning allowing for ocean current

Proposes a paradigm, which uses the activity propagation algorithm for autonomous underwater vehicle (AUV) global path planning. According to the information of the environment structure, the paradigm effectively combines the grid algorithm with the basic idea of configuration space and solves the problem of pole-like robot path planning under the influence of ocean current. In the process of heuristic search, the evaluation function takes into account both the energy cost and the length of paths. The paradigm proves to be flexible and practicable, and improves the autonomy of the AUV greatly