The underwater environment plays a significant part in the path planning of AUVs. The sea environment is subjected to a large set of challenging factors such as atmospheric factors, coastal factors and gravitational factors . Atmospheric factors include winds,sunlight and precipitation. Coastal factors deal with rivers, glaciers, whereas gravitational factors include earth rotation, seabed and tides. Navigation of an AUV is majorly affected by wind-generated waves, wind and oceanic current.
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