Abstract:
Aiming at the difficulties and trends in the research of autonomous undersea vehicle(AUV) real-time obstacle avoidance algorithms, the difficulties in the research of underwater real-time obstacle avoidance algorithm are analyzed from three aspects of dynamic obstacles, multiple constraints and multiple objectives, and ocean current disturbance. Then, the research progress of underwater real-time obstacle avoidance algorithm is focused on the three aspects, i.e. artificial potential field method, fuzzy logic method, and intelligent bionic algorithm. By comparing the current researches on three kinds of obstacle avoidance algorithms, it is known that the improved artificial potential field method overcomes the problems of trap, local minimum, and goal unreachability, and becomes the key research direction to solve the real-time obstacle avoidance problem of unmanned undersea vehicle by modifying the potential field function, introducing the AUV motion constraint, considering the relative speed of obstacles and the influence of complex ocean current, etc. In the aspect of avoiding dynamic obstacles, the fusion of multiple obstacle avoidance algorithms will become a trend. As for the multi-constraint and multi-objective problem, energy consumption is particularly important but is rarely introduced into obstacle avoidance algorithm as a parameter, which has great research potential. For the ocean current disturbance, the majority of real-time obstacle avoidance algorithms only consider steady flow or eddy current in the horizontal direction, thus, consideration of the three-dimensional ocean current disturbance will also become one of the research directions of underwater real-time obstacle avoidance algorithm in the future
