Path planning for autonomous underwater vehicle based on artificial potential field method
Daqi Zhu · Journal of Shanghai, Maritime University · 2010
To solve the problem of path planning for Autonomous Underwater Vehicle(AUV),a dynamic artificial potential field technology is introduced into the path planning.On the basis of mathematical models and simulation experiments of the traditional artificial potential field,a modified potential field function is prsented,and a mathematical model of underwater vehicle is established in two-dimensional space.Simulation tests are conducted in the dynamic underwater environment with dynamic obstacles and static target in Matlab.Results show that this technique produces good effect.