An Improved Algorithm for Obstacle Avoidance by Follow the Gap Method Combined Potential Field

A novel obstacle avoidance algorithm for boat survey, "Follow the Gap Plus", is proposed by combining the "Follow the Gap" method and adapting the "Potential Field" method with an attractive field of obstacles. Then the simulation environment for testing algorithm are generated in various situations with real-world-like environment. The results show that the proposed algorithm can go to the desired destination with better performance than "Follow the Gap" method in the environment with obstacles about 4.47% of total distance, about 7.63% of total time used, and about 54.33% of average change of direction.