Next Article in Journal
IMU-Based Gait Recognition Using Convolutional Neural Networks and Multi-Sensor Fusion
Next Article in Special Issue
Development and Verification of a Novel Robot-Integrated Fringe Projection 3D Scanning System for Large-Scale Metrology
Previous Article in Journal
Pre-Clinical Tests of an Integrated CMOS Biomolecular Sensor for Cardiac Diseases Diagnosis
Previous Article in Special Issue
Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy
Article Menu
Issue 12 (December) cover image

Export Article

Open AccessArticle
Sensors 2017, 17(12), 2742; https://doi.org/10.3390/s17122742

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University; Harbin 150001, China
*
Author to whom correspondence should be addressed.
Received: 25 October 2017 / Revised: 18 November 2017 / Accepted: 21 November 2017 / Published: 27 November 2017
(This article belongs to the Special Issue Smart Sensors for Mechatronic and Robotic Systems)
Full-Text   |   PDF [4139 KB, uploaded 29 November 2017]   |  

Abstract

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment. View Full-Text
Keywords: unmanned underwater vehicle; velocity obstacle method; dynamic collision avoidance; forward-looking sonar unmanned underwater vehicle; velocity obstacle method; dynamic collision avoidance; forward-looking sonar
Figures

Graphical abstract

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Zhang, W.; Wei, S.; Teng, Y.; Zhang, J.; Wang, X.; Yan, Z. Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method. Sensors 2017, 17, 2742.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top