A path planning algorithm based on Bezier curves for underwater vehicles

An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles.Aiming at the special requirements of underwater vehicles and 3D environment,the algorithm consists of two steps: the generation of spatial path and the processing of some constraints.A path for underwater vehicles is planned,which satisfies the velocity constraint and the centripetal acceleration constraint of underwater vehicles.The proposed path planning method can be used for the vehicle's locomotion and navigation control.