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This paper provides a heuristic route planning method based on the cost estimation of visibility through which Autonomous Underwater Vehicle (AUV) can voyage safely and efficiently in complex Marine application environment. The optimized model of AUV is set up and deduced in this paper. Then the constraints and processing strategy of cost estimate is analyzed, and the planning method based on visibility the principle of cost estimate is discussed in detail. This paper verifies the feasibility and optimality of the heuristic route planning method based on the visibility cost estimation in performances of planning-time and distance through simulating comparing.

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