Dynamic obstacle avoidance for unmanned underwater vehicle based on an improved artificial potential field

To solve the problem of moving obstacles avoidance for the UUV in complex ocean environments,a dynamic obstacle avoidance method based on an improved artificial potential field is proposed. Considering the effects of moving obstacles,the time of the collision with the obstacle is taken into the repulsive potential function. Then, the force of sea-flow is added into the improved potential force and path planning is carried out by using the resultant force. The obstacle avoidance simulations are carried out in constant sea-flow and vortex sea-flow respectively. The results show that the UUV can avoid the obstacles successfully and the effectiveness of the proposed method is verified.