An AUV Obstacle-Avoidance Method Based on Improving Balance Point of Motion

Autonomous underwater vehicle(AUV) generally works in unknown and complicated ocean environment,so it is essential for AUV to have safe and reliable ability in autonomous obstacle avoidance.An intelligent obstacle avoidance method for AUV is introduced.An obstacle avoidance strategy based on the method is presented,which combined local obstacle avoidance planning,motion control and hydrodynamic performance of underwater vehicle,and it can reflect the dynamic obstacle avoidance ability.The alert safety distance of AUV is computed based on underwater vehicle velocity information,while a model based on balance point of motion is constructed.Considering the effects on the ability of obstacle avoidance of AUV,velocity and energy information of AUV is introduced to obstacle avoidance strategy.Finally,feasibility of the obstacle avoiding methods is verified with simulation test.