Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

被引:30
作者
Zhang, Wei [1 ]
Wei, Shilin [1 ]
Teng, Yanbin [1 ]
Zhang, Jianku [1 ]
Wang, Xiufang [1 ]
Yan, Zheping [1 ]
机构
[1] Harbin Engn Univ, Coll Automat, Marine Assembly & Automat Technol Inst, Harbin 150001, Heilongjiang, Peoples R China
基金
黑龙江省自然科学基金;
关键词
unmanned underwater vehicle; velocity obstacle method; dynamic collision avoidance; forward-looking sonar; COLLISION-AVOIDANCE; ENVIRONMENTS;
D O I
10.3390/s17122742
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment.
引用
收藏
页数:17
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