OBSTACLE AVOIDANCE OF AUTONOMOUS UNDERWATER VEHICLES BASED ON BALANCE POINT OF MOTION

Update now,most of methods of real-time obstacle avoidance of AUVs are just only considering the relative distance between target and AUV and the distances between obstacles and AUV,but the real sea environment and its bad effects asserted on controller are not given enough notices. The target of this paper is to combine obstacle avoidance planning with motion control according to the real situation and to design a new method incorporating task goal,obstacles and control performance. The results of simulation show that the planning effect is satisfying.