A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments
A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split i...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2018-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/18/2/438 |
| _version_ | 1828137923435823104 |
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| author | Zheping Yan Jiyun Li Gengshi Zhang Yi Wu |
| author_facet | Zheping Yan Jiyun Li Gengshi Zhang Yi Wu |
| author_sort | Zheping Yan |
| collection | DOAJ |
| description | A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle’s irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal. |
| first_indexed | 2024-04-11T18:27:38Z |
| format | Article |
| id | doaj.art-603cf2448a944d66aefd081ae8b467eb |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T18:27:38Z |
| publishDate | 2018-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-603cf2448a944d66aefd081ae8b467eb2022-12-22T04:09:35ZengMDPI AGSensors1424-82202018-02-0118243810.3390/s18020438s18020438A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown EnvironmentsZheping Yan0Jiyun Li1Gengshi Zhang2Yi Wu3Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, ChinaMarine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, ChinaMarine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, ChinaMarine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, ChinaA novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle’s irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal.http://www.mdpi.com/1424-8220/18/2/438autonomous underwater vehicleforward looking sonarobstacle avoidancereaction obstacle avoidance algorithm |
| spellingShingle | Zheping Yan Jiyun Li Gengshi Zhang Yi Wu A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments Sensors autonomous underwater vehicle forward looking sonar obstacle avoidance reaction obstacle avoidance algorithm |
| title | A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments |
| title_full | A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments |
| title_fullStr | A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments |
| title_full_unstemmed | A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments |
| title_short | A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments |
| title_sort | real time reaction obstacle avoidance algorithm for autonomous underwater vehicles in unknown environments |
| topic | autonomous underwater vehicle forward looking sonar obstacle avoidance reaction obstacle avoidance algorithm |
| url | http://www.mdpi.com/1424-8220/18/2/438 |
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