Emergency path planning method for unmanned underwater robot

In this paper, we propose a path planning method for the robot in the emergency situation. The purpose of this method is to bring the robot to a safe area (water surface) in case of emergency condition (leakage, low power). Therefore, we try to implement the bug algorithm specifically for the emergency path planning. We also create a switch-like system to change between two different path planning methods for the normal condition and emergency condition during the operation. A realistic simulation is conducted at the end to test the performance of our path planning method.