Abstract
In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment.
Highlights
The unmanned underwater vehicle (UUV), as an intelligent device for long-term remote underwater navigation, must carry a variety of sensors and special equipment for performing particular missions and tasks [1,2,3]
This paper proposes the dynamic collision avoidance method based on improved velocity obstacles, and the real-time collision avoidance problem under the dynamic obstacle environment can be solved
We can get the right timing of collision avoidance, reduce the computing burden of collision avoidance decision-making and improve the speed of collision avoidance
Summary
The unmanned underwater vehicle (UUV), as an intelligent device for long-term remote underwater navigation, must carry a variety of sensors and special equipment for performing particular missions and tasks [1,2,3]. How to effectively use the front view sonar to obtain information and achieve rapid obstacle avoidance has become a focus of attention [4,5,6]. Apart from static obstacles, UUV faces the threat of dynamic obstacles such as underwater floating objects and the other underwater vehicles. The state of known dynamic obstacles can be predicted ; dynamic obstacles in the underwater environment are sudden and unpredictable. For the safety of navigation, the collision avoidance of unknown dynamic obstacles is gaining more and more attention
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