An efficient method called null space modified guidance vector field (NSMGVF) is proposed to solve the obstacle avoidance problem for autonomous underwater vehicle (AUV) in complex three-dimensional environment. The modified guidance vector field is firstly constructed to guide AUV to avoid static obstacles when moving towards destination. The null space strategy is introduced to integrate different modulation velocities generated by obstacles, and then AUV can avoid multiple dynamic obstacles at the same time. In addition, the fuzzy coefficient regulator (FCR) is introduced to adjust the coefficients of each obstacle online, and a better path is obtained in this way. Finally, the simulation results show that this method applies to the obstacle avoidance mission for AUV in complex marine environment and has a better real-time performance.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Obstacle Avoidance for AUV Based on Null Space Modified Guidance Vector Field and Fuzzy Coefficient Regulator


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Wu, Meiping (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Cheng, Jin (Herausgeber:in) / Yao, Peng (Autor:in) / Wu, Keqiao (Autor:in)

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Erscheinungsdatum :

    2022-03-18


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Stability Analysis of a Null Space Behavioral Controller for Obstacle Avoidance

    Cellini, Manuele / Pollini, Lorenzo / Innocenti, Mario | AIAA | 2008



    Circumnavigation and Obstacle Avoidance Guidance for UAV Using Gradient Vector Fields

    Wilhelm, Jay / Clem, Garrett / Casbeer, David et al. | TIBKAT | 2019


    Obstacle avoidance guidance for ground vehicles

    ZHU JIANCHAO / LIN LETIAN | Europäisches Patentamt | 2024

    Freier Zugriff