*Article* **Path Planning of Deep-Sea Landing Vehicle Based on the Safety Energy-Dynamic Window Approach Algorithm**

**Zuodong Pan 1,2, Wei Guo 1,3,\*, Hongming Sun 1,3, Yue Zhou 2,\* and Yanjun Lan <sup>1</sup>**


**Abstract:** To ensure the safety and energy efficiency of autonomous sampling operations for a deepsea landing vehicle (DSLV), the Safety Energy-Dynamic Window Approach (SE-DWA) algorithm was proposed. The safety assessment sub-function formed from the warning obstacle zone and safety factor addresses the safety issue arising from the excessive range measurement error of forward-looking sonar. The trajectory comparison evaluation sub-function with the effect of reducing energy consumption achieves a reduction in path length by causing the predicted trajectory to deviate from the historical trajectory when encountering "U"-shaped obstacles. The pseudo-power evaluation sub-function with further energy consumption reduction ensures optimal linear and angular velocities by minimizing variables when encountering unknown obstacles. The simulation results demonstrate that compared with the Minimum Energy Consumption-DWA algorithm, the SE-DWA algorithm improves the minimum distance to an actual obstacle zone by 68% while reducing energy consumption by 11%. Both the SE-DWA algorithm and the Maximum Safety-DWA (MS-DWA) algorithm ensure operational safety with minimal distance to the actual obstacle zone, yet the SE-DWA algorithm achieves a 24% decrease in energy consumption. In conclusion, the path planned by the SE-DWA algorithm ensures not only safety but also energy consumption reduction during autonomous sampling operations by a DSLV in the deep sea.

**Keywords:** deep-sea landing vehicle; the Safety Energy-Dynamic Window Approach algorithm; safe; low energy consumption; autonomous sampling operations
