Path Planning for Underwater Robot Based on Improved Artificial Potential Field
Mingxing Lin, Boyang Lian · 2022
Artificial potential field is often used for path planning of underwater robots. The artificial potential field is improved for solving the problems of unreachable target and local minimum in this paper. The influence of the ocean current is introduced, and the heading of the underwater robot under the action of the ocean current is deduced. Finally, the feasibility of the improvement is verified by simulation.