Path planning for autonomous underwater vehicle based on artificial potential field and velocity synthesis

摘要

Because the impact of ocean current on Autonomous Underwater Vehicle (AUV) navigation is greater than the impact of wind on ground mobile robot, there is the essential difference between underwater environment and ground environment. Ocean current and obstacles must be considered for AUV path planning in underwater environment. In this paper, a novel kind of AUV path planning algorithm is proposed by combining the velocity synthesis algorithm and artificial potential field method. Firstly, the improved artificial potential field method is used to avoid obstacles effectively. Then according to the characteristics of AUV navigation, the velocity synthesis algorithm is used to achieve the optimal path. Finally, the problem of path planning for AUV in ocean current environment with obstacles is solved. Simulation result shows that the proposed algorithm is effective.