  This paper presents a concept for a control System for an autonomous
underwater vehicle under ice using a "SLOCUM" underwater glider. The project
concept, the separate working tasks for the next one-and-a-half years and the
first results will be presented. In this context the structure of the obstacle
avoidance system and a simulator structure with a sensor and environment
simulation as well as the interfaces to the glider hardware will be discussed.
As a first result of the main research, a graph-based algorithm for the path
planning in a time-varying environment (variable ocean field, moving obstacles)
will be described.
