The invention provides a
sonar-based improved fuzzy artificial
potential field unmanned ship
obstacle avoidance method and belongs to the technical field of unmanned
underwater vehicles. According tothe prior art, an
unmanned underwater vehicle adopts a traditional artificial
potential field obstacle avoidance method, and as a result, the
unmanned underwater vehicle fails to arrive at a target, and the problem of local minimum values will be brought about. The invention aims to eliminate the above defect and solve the problem in the prior art. The method comprises the following steps that: the data of the upper computer of a
ground station are initialized; the position information of an obstacle surrounding an unmanned ship is acquired through a
sonar ranging module; the minimum course angle of a combined
potential field is calculated based on an improved artificial potential field
algorithm; on the basis of the improved artificial potential field
algorithm, a two-dimensional fuzzy control module is constructed through a triangular
membership function, so that the next position of the unmanned ship can be determined. The method has the advantages of simplicity, high practicabilityand wide application. A TriTech micromachine is adopted to scan
sonar detection obstacles, so that the method further has the advantages of low cost and low
power consumption. The method is based onthe artificial potential field method, and the principle of the artificial potential field method is simple and easy to understand; and after fuzzy control is adopted, the course angle change of the unmanned ship tends to be smooth.