AUV is an intelligent underwater machine that does not require remote human intervention and has autonomous perception, navigation, and decision-making capabilities. It is used to autonomously perform various complex underwater tasks. AUVs are equipped with advanced sensors, scientific instruments, and communication equipment, capable of autonomously planning routes, adapting to environmental changes in real time, and efficiently executing tasks. Currently, they have been fully applied in fields such as marine scientific research, seabed terrain mapping, and environmental monitoring.