Unmanned cableless submersible real-time obstacle avoidance method capable of being used for inspection operation task

The invention discloses an unmanned cableless submersible real-time obstacle avoidance method capable of being used for inspection operation tasks, and relates to the technical field of unmanned cableless submersible obstacle avoidance. The invention provides an unmanned cable-free submersible real-time obstacle avoidance method facing an inspection operation task according to the engineering background that civil mission tasks such as marine aquaculture management, submarine mineral exploration and the like need to be subjected to depth-keeping inspection search navigation. According to the method, a horizontal plane obstacle avoidance principle and a strategy under the conditions of an inspection task scene, multiple tasks and multiple constraints are analyzed, an action planning end is designed emphatically, a subtask autonomous decision-making method is designed based on a deep neural network algorithm, autonomous decision-making of basic subtasks is realized, a PID algorithm is improved, a basic action p