An AUV Path Planner for Large-scale Search and Rescue based on A* Algorithm

Abstract

For large-scale search and rescue (SAR) tasks that require complete coverage of the workspace, it is important to increase the efficiency and obtained sensor data quality. A novel path planner named SAR-A* to this problem is introduced, which takes into account the sensor performance and practical prior information. Firstly, the workspace is decomposed into plenty of hexagonal cells which are treated as waypoints for A* algorithm. Target present probability is then modeled to Gaussian distribution and the performance of the side-scan sonar (SSS) is evaluated. The proposed path planner is validated in a complex terrain scenario which proves that the SAR-A* path planner can increase confidence in locating the target quickly, and is suitable for the large-scale SAR.