Abstract
An autonomous underwater vehicle (AUV) generally works in an unknown and complicated ocean environment, so it is essential for AUV to have the safe and reliable ability of autonomous obstacle avoidance. An intelligent obstacle avoidance method for AUV is introduced. The obstacle avoidance strategy based on the method can reflect the dynamic obstacle avoidance ability which combines local obstacle avoidance planning, motion control and hydrodynamic performance of underwater vehicle. The alert safety distance of AUV is computed based on underwater vehicle velocity information and the model based on balance point of motion is constructed. Considering the effects to the ability of obstacle avoidance of AUV, the velocity and energy information of AUV are introduced to obstacle avoidance strategy. Finally, the feasibility of the obstacle avoiding methods is verified by simulation test.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
