Multi-AUVs Real-time Avoidance Planning

The work of this thesis came from National Defense' s preliminary research project -- "the distributed controls of multi- autonomous underwater vehicle" . This thesis focused on the research of the Real-time avoidance planning of multi-AUVs.In this paper, The knowledge about autonomous underwater vehicle, such as interrelated brief, research development, background, was introduced. Research status and characteristic about Real-time avoidance planning (RAP) were discussed. The Real-time avoidance planning of sigle AUV was designed by improved potential field, which solved the lag in AUV s brake. The method of multi-AUVs Real-time avoidance planning based on No-Priority was my emphasis. Also, the method based on priority was compared with it. For the data of image sonar from experiment on the sea, dada was modeled by grids, disposed by mathematics morphology. The path was planed in small region by Dt propagation method.The results of this paper were of great significance to the multi-AUVs Real-time avoidance planning and the simulation of the multi- AUVs system.