Path planning is the precondition for Hybrid Autonomous Underwater Vehicles (HAUV) to enter the submerged area to undertake a mission. The influence of ocean currents on HAUV should be further investigated to obtain a time-optimal path. The improved A* algorithm and the neural network model are employed in this paper to plan a time-optimal path for the vehicle. https://www.nacrack.com/mega-pick-As-for-Me-and-My-House-Wall-Decal-in-Hebrew-Yahauh-flash-find/