UUV multi-task route planning under obstacles constrait

Aiming at the path planning problem of UUV under obstacles constrait, this paper proposes a simple and feasible algorithm. The optimal path plan is obtained through the tangent theory based on the principle of minimum turning radius, and a detailed mathematical proof is given. The UUV multi-task route planning problem is transformed into a TSP model solution through the continuous Hopfield neural net-work. The simulation results show that the method can quickly and accurately solve UUV multi tasking route planning problem.