AUV obstacle avoidance method in dense obstacle environment

Abstract

The invention discloses an AUV obstacle avoidance method in a dense obstacle environment, belonging to the technical field of intelligent control of autonomous underwater vehicles (AUVs). According tothe scheme of the invention, obstacle data detected by the sonar is processed by a contour convex algorithm and Bessel interpolation, the boundary of obstacles is simplified, and an obstacle avoidance track in a dense obstacle environment is designed by using a predicted guidance obstacle avoidance algorithm. Considering the complexity and diversity of the dense obstacles, the method combines obstacle avoidance parameters and obstacle avoidance rules to formulate an obstacle avoidance weight function to further obtain the global optimal predicted obstacle avoidance parameters, and finally, the corresponding obstacle avoidance guidance track points are formulated to enable the AUVs to achieve the goal of obstacle avoidance. Experimental data can show that the algorithm provided by the invention has better adaptability and obstacle avoidance execution efficiency for complex and dense obstacle environments, and can be better utilized in the underwater obstacle avoidance process of the autonomous underwater vehicles (AUVs).

Description

technical field [0001] The invention belongs to the technical field of intelligent control of underwater unmanned vehicles, and in particular relates to an AUV obstacle avoidance method in a dense obstacle environment. Background technique [0002] AUV is usually suitable for dynamic and cluttered ocean environments, especially when there are dense obstacles with complex structures near the coast. The advanced nature of (Autonomous underwater vehicles) enables the ability to find a safe and efficient navigation trajectory in the face of dense obstacles in the marine environment to achieve underwater operations on the seabed, enabling AUVs to safely reach the designated final destination from the starting position. target location. Obviously, this obstacle avoidance algorithm needs various optimization strategies to realize the obstacle avoidance process and can also maximize the performance of the AUV itself. [0003] In recent years, various methods to solve the above pro...

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Problems solved by technology

[0004] The purpose of the present invention is to provide an AUV obstacle avoidance method in a dense obstacle environment, to solve the problem of being able to cope with a complex and dense obstacle environment in order to improve the advancement and safety of the AUV in a dynamic and messy marine environment. To find a safe and efficient flight path to complete the technical problems of safe underwater operations on the seabed

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