[1]WANG Kuimin,ZHAO Yufei,HOU Shuping,et al.Dynamic obstacle avoidance for unmanned underwater vehiclebased on an improved artificial potential field[J].CAAI Transactions on Intelligent Systems,2014,9(1):47-52.[doi:10.3969/j.issn.1673-4785.201309038]
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Dynamic obstacle avoidance for unmanned underwater vehiclebased on an improved artificial potential field
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
9
Number of periods:
2014 1
Page number:
47-52
Column:
学术论文—智能系统
Public date:
2014-02-25
- Title:
- Dynamic obstacle avoidance for unmanned underwater vehiclebased on an improved artificial potential field
- Keywords:
- UUV; artificial potential field; moving obstacle; obstacle avoidance; sea-flow
- CLC:
- TP242.3;TJ6
- DOI:
- 10.3969/j.issn.1673-4785.201309038
- Abstract:
- To solve the problem of moving obstacles avoidance for the UUV in complex ocean environments, a dynamic obstacle avoidance method based on an improved artificial potential field is proposed. Considering the effects of moving obstacles, the time of the collision with the obstacle is taken into the repulsive potential function. Then, the force of sea-flow is added into the improved potential force and path planning is carried out by using the resultant force. The obstacle avoidance simulations are carried out in constant sea-flow and vortex sea-flow respectively. The results show that the UUV can avoid the obstacles successfully and the effectiveness of the proposed method is verified.
- References:
-
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