An AUV Obstacle-Avoidance Method Based on Three-dimensional Velocity Potential Field
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摘要: 以势场方法的思想为出发点，提出一种基于速度势场的AUV局部避碰仿真方法．根据AUV的特点建立了空间碰撞危险区域和由水平面速度势场和垂直面速度势场组成的三维速度势场．该方法较好地利用了相对速度的信息．仿真实验证明此方法可以使AUV在水下多运动障碍物的环境中得到较好的局部避碰效果，为今后的海试打下了很好的基础．Abstract: 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.
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