Local Path Planning Method for Autonomous Underwater Vehicle Based on Virtual Field Force
Fuguang Ding · 2007
Using the virtual force conception,a navigation algorithm for Autonomous Underwater Vehicle(AUV) local path planning on the basis of virtual-field-force method is presented and an improved Virtual Field Force(VFF) algorithm for local path planning is designed in this paper.It is emphazised that the local minimum problem caused by null resultant force or U shape obstacle is studied.Moreover,the potential-field method in conjunction with virtual force conception is considered as the basis of the navigation algorithm.When AUV gets trap,the algorithm is applied in order to avoid local minimum.Simulation results show that the algorithm recommended by authors is able to well solve the local minimum problem.