Research on mission planning for multi-UUV systems using the Hilbert-planning algorithm based on centroidal Voronoi diagram theory

With the increasing emphasis on marine resource exploitation, multi-UUV systems demonstrate superior efficiency compared to single-UUV operations. However, holistic motion planning remains challenged by environmental uncertainties and kinematic constraints. This paper proposes a unified, full-coverage search-and-exploration planning framework. The core novelty lies in the orchestration of a hybrid optimization-based regional allocation method (HPSO-CVD) and an adaptive Hilbert-planning algorithm for variable-precision coverage. Quantitative benchmarking reveals that the proposed improved A* algorithm reduces computational overhead by approximately 52.09% compared to traditional A* and 69.35% compared to RRT*. Furthermore, the integration of Minimum Jerk smoothing ensures that generated paths are kinematically feasible for underactuated UUV dynamics.