Local Path Planning of Unmanned Underwater Vehicle Based on Improved APF and Rolling Window Method

• Published in: 2022 International Conference on Cyber-Physical Social Intelligence (ICCSI) pp. 542 - 549
• Main Authors: Zhang, Zhe, Chen, Shusi, Li, Yanghui, Wang, Lifeng, Ren, Rui, Xu, Lei, Wang, Jun, Zhang, Xianchun
• Format: Conference Proceeding
• Language: English
• Published: IEEE 18.11.2022
• Subjects: artificial potential field method (APF); Autonomous underwater vehicles; Heuristic algorithms; local path planning; Path planning; Real-time systems; rolling window method; Simulation; Space vehicles; Turning; unmanned underwater vehicle (UUV)
• DOI: 10.1109/ICCSI55536.2022.9970658

Aiming at the unknown complex underwater environment in the research of local path planning of unmanned underwater vehicle (UUV), a fusion algorithm of improved artificial potential field method and rolling window method is designed. Due to the limited detection range of UUV sensors, the rolling window method is used to model the local environment detected by UUV sensors. On this foundation, combined with the UUV motion constraint, the sub target points are set in the window, and the artificial potential field method is used for local path planning in the window. To solve the local minimum point problem of the traditional artificial potential field method, the position factor is introduced to the repulsion function of the traditional artificial potential field method. At the same time, UUV at the local minimum point is forced to turn and jump out of the local minimum point. Finally, the simulation results are given to show that the algorithm can bypass the local minimum point and realize real-time path planning successfully.