Paper Info
Title
Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method.
Abstract
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.
Year
DOI
Venue
2017
10.3390/s17122742
SENSORS
Keywords
Field
DocType
unmanned underwater vehicle,velocity obstacle method,dynamic collision avoidance,forward-looking sonar
Obstacle avoidance,Obstacle,Motion control,Simulation,Sonar,Collision,Redundancy (engineering),Engineering,Unmanned underwater vehicle,Underwater
Journal
Volume
Issue
ISSN
17
12.0
1424-8220
Citations 
PageRank 
References 
2
0.39
15
Authors
6
Name
Order
Citations
PageRank
Wei Zhang128735.43
Shilin Wei220.39
Yanbin Teng321.41
Jianku Zhang420.39
Xiufang Wang520.73
Zheping Yan6124.16