这里进行的是水下障碍物项目，挑战者必须屏住呼吸穿越冰冷的泥潭。

There is an underwater obstacle section. Participants have to hold their breath and make their way through the muddy, freezing water.

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在海洋环境中水下机器人路径规划具有规划范围广阔、障碍物相对稀疏、海流的影响不可避免的特点。

The characteristics of the underwater vehicle's path planning in the ocean environment are as follows: broad planning range, relatively sparse obstacles, and inevitable impact of the ocean currents.

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