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There is an increasing demand for piloted autonomous underwater vehicles(AUVs) to operate in polar ice conditions. At present, AUVs are deployed fromships and directly human-piloted in these regions, entailing a high carbon costand limiting the scope of operations. A key requirement for long-termautonomous missions is a long-range route planning capability that is aware ofthe changing ice conditions. In this paper we address the problem of automatinglong-range route-planning for AUVs operating in the Southern Ocean. We presentthe route-planning method and results showing that efficient, ice-avoiding,long-distance traverses can be planned.

Long-Range Route-planning for Autonomous Vehicles in the Polar Oceans