Autonomous Obstacle Avoidance for AUV Based on Modified Guidance Vector Field

被引：0
|
作者：
Yao P. [1 ]
Xie Z.-X. [1 ]
机构：
[1] College of Engineering, Ocean University of China, Qingdao
来源：
Yao, Peng (yaopenghappy@163.com) | 1670年 / Science Press卷 / 46期
基金：
中国博士后科学基金;
关键词：
Autonomous underwater vehicle (AUV); Initial guidance vector field; Modified guidance vector field; Three-dimensional obstacle avoidance;
D O I：
10.16383/j.aas.c180219
中图分类号：
学科分类号：
摘要：
An efficient method called the modified guidance vector field is proposed to solve the three-dimensional obstacle avoidance problem for autonomous underwater vehicle (AUV) in complex ocean environment. The initial guidance vector field in free space is first constructed to guide AUV to the destination along the shortest path. Then the modulation matrix is defined to quantify the influence of obstacles on the initial guidance vector field, and the modified guidance vector field in obstacle space is hence obtained, where AUV will avoid static obstacles when navigating to the destination. The referred velocity of dynamic obstacles is introduced to construct the relative initial/modified guidance vector field, and the limited time domain based derivation and adjustment strategy is also utilized to guide AUV avoiding dynamic obstacles safely. Finally the simulation results demonstrate that this method applies to the obstacle avoidance mission for AUV well in complex ocean environment. Copyright © 2020 Acta Automatica Sinica. All rights reserved.
引用
收藏
页码：1670 / 1680
页数：10
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