Research on AUV Dynamic Obstacle Avoidance Path Planning Based on the Rolling Speed Obstacle Method

To address the problem of poor path planning and the obstacle avoidance effect of autonomous undersea vehicles(AUVs) in dynamic environments, a feasible rolling speed obstacle method is proposed in this study. This method combines the rolling window method with the speed obstacle method and designs a suitable three-dimensional model predictive controller based on the rolling window method under a hybrid obstacle avoidance structure. Stable tracking of the reference path is achieved by optimizing the objective function. A three-dimensional collision cone and speed obstacle cone model is constructed while the window is rolling. If the collision avoidance condition is met, the critical collision point is calculated, and the AUV is guided to avoid obstacles safely by tracking the critical collision point. If collision avoidance ends, the AUV trajectory recovery is guided. Simulation results show that this method can effectively improve the dynamic obstacle avoidance ability of AUVs in real-time path planning.