An AUV Obstacle-Avoidance Method Based on Three-dimensional Velocity Potential Field

A local obstacle avoidance approach for AUV based on velocity potential field is presented with the idea of potential methods.According to the characteristics of AUV,the collision field and three-dimensional velocity potential field are built,and the latter is composed of horizontal and vertical velocity potential fields.This method makes good use of the relative velocity of AUV.The simulation results verify that it provides the AUV with local collision-avoiding ability in a dynamic world with multiple moving obstacles,and lays a firm foundation for the ocean test.