Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment
The improved vector field histogram algorithm(VFH+) tends to overlook the autonomous undersea vehicle(AUV) dynamics and ocean current effects, and it is sensitive to threshold selection. To address this issue, a dynamics-based VFH+(DVFH+) algorithm was proposed in this paper. By incorporating AUV dy...
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| Format: | Article |
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Science Press (China)
2025-02-01
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| Series: | 水下无人系统学报 |
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| Online Access: | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0077 |
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| author | Zhongben ZHU Jiahao ZHANG Yifan XUE Hongde QIN |
| author_facet | Zhongben ZHU Jiahao ZHANG Yifan XUE Hongde QIN |
| author_sort | Zhongben ZHU |
| collection | DOAJ |
| description | The improved vector field histogram algorithm(VFH+) tends to overlook the autonomous undersea vehicle(AUV) dynamics and ocean current effects, and it is sensitive to threshold selection. To address this issue, a dynamics-based VFH+(DVFH+) algorithm was proposed in this paper. By incorporating AUV dynamics parameters to limit the expected heading output, this method reduced abrupt changes in the expected algorithm output, thereby improving AUV’s tracking performance. Additionally, by considering the drift angle compensation in the real ocean current environment, the obstacle avoidance algorithm was optimized to improve its robustness and adaptability. By using information about obstacles, the threshold values were adjusted automatically. This enabled the calculation of the planning instructions based on environmental characteristics around AUVs, ensuring the efficiency and safety of navigation. Simulation experiments using the REMUS 100 AUV model show that DVFH+ can provide a smoother and more feasible obstacle avoidance route, making it suitable for AUV obstacle avoidance in complex environments while effectively preventing issues such as detouring and planning failure caused by improper threshold settings in the original algorithm. |
| format | Article |
| id | doaj-art-10127dfbed9249e89d63f70c50880b9c |
| institution | DOAJ |
| issn | 2096-3920 |
| language | zho |
| publishDate | 2025-02-01 |
| publisher | Science Press (China) |
| record_format | Article |
| series | 水下无人系统学报 |
| spelling | doaj-art-10127dfbed9249e89d63f70c50880b9c2025-08-20T03:02:04ZzhoScience Press (China)水下无人系统学报2096-39202025-02-01331152310.11993/j.issn.2096-3920.2024-00772024-0077Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current EnvironmentZhongben ZHU0Jiahao ZHANG1Yifan XUE2Hongde QIN3Qingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, ChinaQingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, ChinaQingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, ChinaQingdao Innovation and Development Base, Harbin Engineering University, Qingdao 266000, ChinaThe improved vector field histogram algorithm(VFH+) tends to overlook the autonomous undersea vehicle(AUV) dynamics and ocean current effects, and it is sensitive to threshold selection. To address this issue, a dynamics-based VFH+(DVFH+) algorithm was proposed in this paper. By incorporating AUV dynamics parameters to limit the expected heading output, this method reduced abrupt changes in the expected algorithm output, thereby improving AUV’s tracking performance. Additionally, by considering the drift angle compensation in the real ocean current environment, the obstacle avoidance algorithm was optimized to improve its robustness and adaptability. By using information about obstacles, the threshold values were adjusted automatically. This enabled the calculation of the planning instructions based on environmental characteristics around AUVs, ensuring the efficiency and safety of navigation. Simulation experiments using the REMUS 100 AUV model show that DVFH+ can provide a smoother and more feasible obstacle avoidance route, making it suitable for AUV obstacle avoidance in complex environments while effectively preventing issues such as detouring and planning failure caused by improper threshold settings in the original algorithm.https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0077autonomous undersea vehicleobstacle avoidance controlvector filed histogramocean current environmentdynamics performance |
| spellingShingle | Zhongben ZHU Jiahao ZHANG Yifan XUE Hongde QIN Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment 水下无人系统学报 autonomous undersea vehicle obstacle avoidance control vector filed histogram ocean current environment dynamics performance |
| title | Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment |
| title_full | Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment |
| title_fullStr | Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment |
| title_full_unstemmed | Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment |
| title_short | Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+ in Ocean Current Environment |
| title_sort | obstacle avoidance control of autonomous undersea vehicle based on dvfh in ocean current environment |
| topic | autonomous undersea vehicle obstacle avoidance control vector filed histogram ocean current environment dynamics performance |
| url | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0077 |
| work_keys_str_mv | AT zhongbenzhu obstacleavoidancecontrolofautonomousunderseavehiclebasedondvfhinoceancurrentenvironment AT jiahaozhang obstacleavoidancecontrolofautonomousunderseavehiclebasedondvfhinoceancurrentenvironment AT yifanxue obstacleavoidancecontrolofautonomousunderseavehiclebasedondvfhinoceancurrentenvironment AT hongdeqin obstacleavoidancecontrolofautonomousunderseavehiclebasedondvfhinoceancurrentenvironment |