Cooperative obstacle avoidance method of multiple unmanned underwater vehicles based on improved artificial potential field method

被引：0

作者：

Xu, HongLi ^{[1
]}

Luan, Kuo ^{[1
]}

Jia, BenQing ^{[1
]}

Gu, HaiTao ^{[2
]}

机构：

[1] Northeastern Univ, Dept Fac Robot Sci & Engn, Shenyang, Peoples R China

[2] Chinese Acad Sci, Shenyang Inst Automat, Dept State Key Lab Robot, Shenyang, Peoples R China

来源：

2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年

关键词：

UUV formation; artificial potential field; collaborative obstacle avoidance;

D O I：

10.1109/CCDC58219.2023.10327196

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the obstacle avoidance problem of multiple unmanned underwater vehicles (UUV) formation in different obstacle avoidance scenarios, the collaborative collision avoidance algorithm of multiple UUV formation was studied. In terms of obstacle avoidance algorithm, an algorithm combining artificial potential field method and consistent formation control algorithm is proposed. A variety of obstacle scenes are set by using the information of forward looking sonar, and different weights are set for the fusion of control instructions of the two algorithms. The problems of formation recovery time and formation error caused by formation "grouping" in the course of UUV obstacle avoidance are solved. Finally, in the underwater simulation platform, the effectiveness and advantages of the collaborative obstacle avoidance algorithm in multiple scenes are verified by experiments.

引用

页码：2950 / 2955

页数：6

共 50 条

[31] Optimization of multi-vehicle obstacle avoidance based on improved artificial potential field method with PID control
Yan, Weigang
Wu, Xi
Liang, Guanghong
FRONTIERS IN ENERGY RESEARCH, 2024, 12
[32] Coordinated Obstacle Avoidance of Multi-AUV Based on Improved Artificial Potential Field Method and Consistency Protocol
Yu, Haomiao
Ning, Luqian
JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2023, 11 (06)
[33] Research on Multi-UAV Path Planning and Obstacle Avoidance Based on Improved Artificial Potential Field Method
Lai, Dongcheng
Dai, Jiyang
2020 IEEE 3RD INTERNATIONAL CONFERENCE ON MECHATRONICS, ROBOTICS AND AUTOMATION (ICMRA 2020), 2020, : 84 - 88
[34] The Obstacle Avoidance Planning of USV Based on Improved Artificial Potential Field
Xie, Shaorong
Wu, Peng
Peng, Yan
Luo, Jun
Qu, Dong
Li, Qingmei
Gu, Jason
2014 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), 2014, : 746 - 751
[35] Robot Path Planning Based on Artificial Potential Field Method with Obstacle Avoidance Angles
Wan J.
Sun W.
Ge M.
Wang K.
Zhang X.
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2024, 55 (01): : 409 - 418
[36] RETRACTED: A Study on the Fuzzy Rule Hunting Strategy of Multiple Unmanned Vehicles Based on the Improved Artificial Potential Field Method (Retracted Article)
Zhang, Lanyong
He, Kun
Tian, Yuru
JOURNAL OF SENSORS, 2022, 2022
[37] Trajectory Tracking and Obstacle Avoidance Control of Unmanned Underwater Vehicles Based on MPC
Sun, Bing
Zhang, Wei
Song, Aiguo
Zhu, Xixi
Zhu, Daqi
2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS), 2018,
[38] Path Planning for Obstacle Avoidance of Robot Arm Based on Improved Potential Field Method
Xia, Xinkai
Li, Tao
Sang, Shengbo
Cheng, Yongqiang
Ma, Huanzhou
Zhang, Qiang
Yang, Kun
SENSORS, 2023, 23 (07)
[39] Adaptive Artificial Potential Field Approach for Obstacle Avoidance of Unmanned Aircrafts
Rezaee, Hamed
Abdollahi, Farzaneh
2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2012,
[40] Research on obstacle avoidance technology of fixed wing formation based on improved artificial potential field method with stereo vision
Liu, Yu
Wang, Xinhua
2020 2ND INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE COMMUNICATION AND NETWORK SECURITY (CSCNS2020), 2021, 336

← 1 2 3 4 5 →