Kim, M.H.; Yoo, T.; Park, S.J.; Oh, K. Forward-Looking Sonar-Based Stream Function Algorithm for Obstacle Avoidance in Autonomous Underwater Vehicles. J. Mar. Sci. Eng.2023, 11, 1998.
Kim, M.H.; Yoo, T.; Park, S.J.; Oh, K. Forward-Looking Sonar-Based Stream Function Algorithm for Obstacle Avoidance in Autonomous Underwater Vehicles. J. Mar. Sci. Eng. 2023, 11, 1998.
Kim, M.H.; Yoo, T.; Park, S.J.; Oh, K. Forward-Looking Sonar-Based Stream Function Algorithm for Obstacle Avoidance in Autonomous Underwater Vehicles. J. Mar. Sci. Eng.2023, 11, 1998.
Kim, M.H.; Yoo, T.; Park, S.J.; Oh, K. Forward-Looking Sonar-Based Stream Function Algorithm for Obstacle Avoidance in Autonomous Underwater Vehicles. J. Mar. Sci. Eng. 2023, 11, 1998.
Abstract
Autonomous Underwater Vehicles (AUVs) are emerging as pivotal tools in underwater applications such as seafloor exploration and the inspection of pipelines or cables. Traditional land-based avoidance methods prove insufficient when applied to the complex underwater environment, largely due to the unique constraints presented by marine environments and the specific dynamics of AUVs. In this study, we introduce an improved stream function-based obstacle avoidance algorithm specifically tailored for autonomous underwater vehicles. The proposed algorithm is based on a stream function that is derived from the stream function. The stream function is characterized by a radial histogram for the cost function. In addition, constraints related to the maximum path curvature are discussed to optimize the utility of the path. Our exhaustive simulation cases validate the robustness and adaptability of the proposed algorithm, demonstrating its ability to produce feasible and optimized avoidance paths in a variety of scenarios.
Copyright:
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