Obstacle Avoidance Control of AUV Based on DVFH+ in Ocean Current Environment

ZHU Zhongben; ZHANG Jiahao; XUE Yifan; QIN Hongde

doi:10.11993/j.issn.2096-3920.2024-0077

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ZHU Zhongben, ZHANG Jiahao, XUE Yifan, QIN Hongde. Obstacle Avoidance Control of AUV Based on DVFH+ in Ocean Current Environment[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0077

Citation:

ZHU Zhongben, ZHANG Jiahao, XUE Yifan, QIN Hongde. Obstacle Avoidance Control of AUV Based on DVFH+ in Ocean Current Environment[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0077

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Obstacle Avoidance Control of AUV Based on DVFH+ in Ocean Current Environment

doi: 10.11993/j.issn.2096-3920.2024-0077

Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, China

Received Date: 2024-05-09
Accepted Date: 2024-07-18
Rev Recd Date: 2024-07-14

Available Online: 2025-01-24

Abstract

Abstract

Aiming at the problem that the improved vector field histogram (VFH) algorithm VFH+ ignores dynamic performance of autonomous undersea vehicle (AUV) and the impact of ocean current environment, and is sensitive to threshold setting, dynamic-based VFH+ (DVFH+) is proposed in this paper. The dynamic parameters of AUV are used to limit the output of the expected heading, which solves the problem of the expected output hopping of the original algorithm and improves the tracking performance of AUV; considering the drift angle compensation in the real ocean current environment, the obstacle avoidance algorithm is optimized to improve its robustness and adaptability; according to the obstacle information, the threshold value can be adjusted adaptively, and the planning instructions can be calculated according to the environmental characteristics around AUV, so as to ensure the efficiency and safety of navigation. The REMUS 100 AUV model is used for simulation and the results show that DVFH+ proposed in this paper can provide a smoother and more feasible obstacle avoidance route, which is suitable for obstacle avoidance of AUV in complex environment, and effectively avoids the path detouring and planning failure caused by the unreasonable threshold setting of the original algorithm.
- autonomous undersea vehicle,
- obstacle avoidance control,
- vector filed histogram,
- ocean current environment,
- dynamic performance

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References(26)

References

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