Cooperative collision avoidance and obstacle avoidance path planning for multiple unmanned underwater vehicles
Hongxia Zhang, Senlin Pu, Youjun Sun · 2023
To address the problem of collision avoidance and obstacle avoidance of multiple unmanned underwater vehicles (UUVs) in complex environments, a dynamic path planning method based on the velocity obstacle is proposed. This method constructs a three-dimensional model of UUV and other dynamic obstacles when UUV needs to avoid obstacles and establishes a velocity obstacle cone according to the velocity obstacle method. A feasible velocity outside the obstacle cone in the UUV velocity set for collision avoidance. To address the problem of path oscillation of the traditional velocity obstacle, reciprocal velocity obstacles are adopted so that each UUV can reach the target point safely. Simulation results show that this method can make multiple UUVs reach their respective target areas safely and quickly.