Obstacle Avoidance Using Multi-Point Potential Field Approach for an Underactuated Flat-Fish Type AUV in Dynamic Environment

This paper presents a multi-point potential field (MPPF) method for obstacle avoidance of Autonomous Underwater Vehicles (AUV) in a 2D dynamic environment. In this method, an arc of predefined radius on a semicircle in the positive x-axis around the bow of an AUV is discretized into equiangular points with centre as the current position. By determining the point at which the minimum potential exists, the vehicle can be moved towards that point in 2D space. Here the analytical gradient of the total potential function is not calculated as it is not essentially required for moving the vehicle to the next position. The proposed obstacle avoidance algorithm is interfaced with the dynamic model of an underactuated flat-fish type AUV. The obstacle avoidance algorithm generates the path elements to the trajectory planner and the vehicle tracks the trajectory. The details of the algorithm and simulation results are presented.