Research On Real-time Collision Avoidance And Global Path Planning Of AUV

Path planning and collision avoidance in real ocean environment are related to many factors such as the dynamics characteristics of autonomous underwater vehicle (AUV), the influence upon the maneuverability caused by sea current, the unstructured obstacles, and so on. This paper systematically studied the strategies of global path planning and local collision avoidance in ocean environment, and some methods are presented for global path planning and obstacle avoidance.This paper according to the dynamics equation of underwater vehicle, the real-time avoidance method is presented, which is based on fuzzy theory and combines the dynamics of AUV. In the approach, the relative position and velocity between AUV and the obstacles, the velocity and direction of sea current, the motion state of AUV are taken as inputs and the reference angle velocity or velocity are taken as outputs. The approach considers the dynamics of AUV in obstacle avoidance planning, which makes the control systems easy to follow the planned tracks. The approach also considers the influence of sea current, in order to resemble the real ocean environment.This paper expresses the space environment by the modified method of space search. This method comes from simulation that the sensor detecte obstacles. The method can be used to deal with obstacles with any shapes in 2-D or 3-D space in same way. So this method is suit to the real sea environment. The dynamics characteristics of AUV and sea current influence the control systems to fellow the planning tracks. In order to make the planned tracks easy to fellow, the author brings forward the global path planning, which combines the dynamics of AUV and considers the influence of sea current.Simulation results show that the real-time strategy of fuzzy obstacles avoidance and global path planning are some academic effective and some reference effective for realistically use.