AUV local path planning based on virtual potential field

We build a local path planning algorithm using virtual force for free local minimum. Potential field is used as a basic platform for the path planning since it has the advantages of simplicity, real-time computation. However, there is one shortcoming in the potential field: it may cause local minimum whenever the curvature of the repulsive equipotential curve is less than the curvature of the attractive equipotential curve at the same configuration. To get rid of the local minimum in the presence of obstacles, we present a navigation algorithm, which integrates virtual force concept with a potential-field-based method to maneuver autonomous underwater vehicle (AUV) in unknown or unstructured environments. This study focuses on the free local minimum in potential-field based navigation. We mainly consider the potential-field method in conjunction with virtual force concept as the basis of our navigation algorithm. Simulation and experiments of our algorithm shows good performance and ability to overcome the local minimum problem associated with potential field methods.