ISBN: 978-981-18-5852-9 DOI: 10.18178/wcse.2022.04.066
Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on Velocity Obstacle
Abstract— To address the problem of poor path planning and obstacle avoidance when the unmanned underwater vehicle (UUV) encounters dynamic obstacles such as floating objects, swimming fish, and ships during navigation in dynamic environments, a path planning method based on the velocity obstacle method is proposed. The desired speed is selected according to the position of UUV and the target, and the relative speed of UUV and the obstacle is calculated according to their ground speed, and the angular relationship between the relative positions of these two is used to derive a feasible path range for collision avoidance, and the feasible obstacle avoidance speed close to desired speed is selected to complete the avoidance of dynamic obstacles. The simulation results show that this method can make the UUV avoid obstacles in real-time in a complex environment with static obstacles and dynamic obstacles.
Index Terms— unmanned underwater vehicle, velocity obstacles, dynamic collision avoidance.
Xu Cao
Fifth design center, Wuhan second ship design and research institute
Shuang Huang
Fifth design center, Wuhan second ship design and research institute
Senlin Pu
School of Automation, Wuhan University of Technology
Yu Zhan
School of Automation, Wuhan University of Technology
Shengwei Li
School of Automation, Wuhan University of Technology
Mi Yan
School of Automation, Wuhan University of Technology
Lei Wang
School of Automation, Wuhan University of Technology
Cite: Xu Cao, Shuang Huang, Senlin Pu, Yu Zhan, Shengwei Li, Mi Yan, Lei Wang, " Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on Velocity Obstacle, " WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications, pp. 561-566, Sanya, China, April 15-18, 2022.