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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 10
2929-2934,3032

Research on multi-AUV cooperative obstacle avoidance method in unknown environment

Liu Ya1,2,3
Zeng Junbao1,2
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2. Institutes for Robotics & Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3. University of Chinese Academy of Sciences, Beijing 100049, China
DOI: 10.19734/j.issn.1001-3695.2022.03.0115

Abstract

Aiming at the problem that it is difficult to take into account both obstacle avoidance and formation when multi-AUV system plans path in unknown environment, this paper proposed a multi-AUV cooperative obstacle avoidance method based on leader-follower and behavior. Firstly, this paper designed a local path planning method for AUV by constructing the evaluation function of collision risk and deviation from the target. On this basis, combined with formation control method, this paper designed different behaviors and behavior selection patterns for leader and followers respectively. The semi-physical simulation experiment results show that the algorithm can realize the cooperative obstacle avoidance of multi-AUV system in unknown environment, and the formation deviation and recovery time are better than traditional multi-robot obstacle avoidance algorithms. Experimental results verify the feasibility and effectiveness of the algorithm.

Foundation Support

国家自然科学基金资助项目(42176194)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.03.0115
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 10
Section: Algorithm Research & Explore
Pages: 2929-2934,3032
Serial Number: 1001-3695(2022)10-006-2929-06

Publish History

[2022-05-24] Accepted Paper
[2022-10-05] Printed Article

Cite This Article

刘亚, 曾俊宝. 未知环境下多AUV协同避障方法研究 [J]. 计算机应用研究, 2022, 39 (10): 2929-2934,3032. (Liu Ya, Zeng Junbao. Research on multi-AUV cooperative obstacle avoidance method in unknown environment [J]. Application Research of Computers, 2022, 39 (10): 2929-2934,3032. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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