Research on AUV dynamic obstacle avoidance planning based on rolling speed obstacle method

Abstract

In this paper, aiming at the problem of poor path planning and obstacle avoidance effect of autonomous underwater vehicle (AUV) in a dynamic environment, a feasible rolling speed obstacle method is proposed. This method combines the rolling window method with the speed obstacle method, and designs a suitable three-dimensional model predictive controller based on the rolling window method under a hybrid obstacle avoidance structure, and achieves stable tracking of the reference path by optimizing the objective function. A three-dimensional collision cone and speed obstacle cone model is constructed while the window is rolling. If the collision avoidance condition is met, the critical collision point is calculated, and the AUV is guided to avoid obstacles safely by tracking the critical collision point; if collision avoidance ends, guide AUV trajectory recovery. The final simulation and experimental results show that the performance of the rolling speed obstacle method in avoiding dynamic obstacles is 30% higher than the rolling window method and 40% higher than the speed obstacle method. The method used in this paper can effectively improve the dynamic obstacle avoidance ability of AUV in real-time path planning.