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The path planning result of the experiment where an underwater cave exits between the AUV and the target: (a) Step = 0, View = (−76°, 14°); (b) Step = 73, View = (−29°, 23°); (c) Step = 134, View = (−40°, 30°); (d) Step = 184, View = (−79°, 22°).
