Abstract
This paper focuses on planning a two-dimensional (2-D) obstacle avoidance path for the formation of autonomous underwater vehicles (AUVs) in an ocean environment with complicated static obstacles. Inspired by the natural phenomenon of a flowing stream avoiding obstacles, a novel strategy based on an interfered fluid dynamical system (IFDS) is designed. In view of the particular features of the ocean environment, the obstacles are modeled first. Then, by imitating the phenomenon of fluid flow, the IFDS method is used to quickly plan a smooth and safe path for formation AUVs, which conforms to the general characteristic of the phenomenon that running water can avoid rock and arrive at its destination. Finally, formation control is achieved using rigid graph theory. The planned route serves as a known virtual AUV to the leader AUV. The simulation results show that this method has the characteristics of curve continuity and smoothness, enhances obstacle avoidance effects, and has good performance in obstacle avoidance in 2-D path planning.
This work was supported by the Shanghai Science and Technology Innovation Funds under Grant 20510712300 and Grant 21DZ2293500.
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Pang, W., Zhu, D., Wang, L. (2022). Research on Formation Obstacle Avoidance Algorithm of Multiple AUVs Based on Interfered Fluid Dynamical System. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_29
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DOI: https://doi.org/10.1007/978-3-031-13835-5_29
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