AUV Real-time Dynamic Obstacle Avoidance Strategy Based on Relative Motion

Based on the background of AUV path planning, the trajectory of dynamic obstacle is predicted according to the complex and changeable underwater environment and the motion characteristic of underwater vehicle which is different from mobile robot. AUV real-time obstacle avoidance strategy of the relative motion model is proposed in this paper. To achieve safe obstacle avoidance, we determine the probability of collision by analyzing the current location and movement condition of the vehicle and obstacles. We also adjust relative motion by changing the speed and direction of the vehicle. Finally, it can be proved by computer simulation experiment that this method can predict the trajectory of obstacles accurately, and make the vehicle avoid moving obstacles effectively so that to complete the planning of collision avoidance.