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.
Obstacle Avoidance for AUV Based on Null Space Modified Guidance Vector Field and Fuzzy Coefficient Regulator
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 154 ; 1558-1567
2022-03-18
10 pages
Article/Chapter (Book)
Electronic Resource
English