Design and Implementation of an Underwater Dynamic Obstacle Avoidance Algorithm Based on Speed Control

DOI: https://doi.org/10.62517/jbdc.202501110

Author(s)

Hanan Zhu1, Hongli Jia2,*, Shuangyin Wang2

Affiliation(s)

1Harbin Institute of Petroleum, Harbin, Heilongjiang, China 2Heilongjiang Agricultural Engineering Vocational College, College of Intelligent Engineering, Harbin, China *Corresponding Author

Abstract

With the continuous growth of the demand for underwater operations, the autonomous obstacle avoidance ability of underwater vehicles is of vital importance. This paper aims to design and implement an underwater dynamic obstacle avoidance algorithm based on speed control to enhance the safety and autonomy of underwater vehicles in complex environments. the research adopts a method that combines theoretical analysis and algorithm design. By constructing the dynamic model of underwater vehicles, the motion characteristics of the vehicles at different speeds are deeply analyzed. Sensors are used to obtain real-time information about the underwater environment, and obstacles are identified and located. On this basis, a dynamic obstacle avoidance strategy based on speed adjustment is designed. This strategy dynamically plans the navigation path and adjusts the speed according to the position and speed of the obstacles as well as the state of the vehicle itself. Verified by multiple groups of simulation experiments, the proposed algorithm can effectively achieve obstacle avoidance in a dynamic underwater environment. Compared with traditional obstacle avoidance algorithms, it has significantly improved in terms of obstacle avoidance success rate, navigation efficiency, etc., providing more reliable technical support for the practical application of underwater vehicles.

Keywords

Underwater Dynamic Obstacle Avoidance; Speed Control; Algorithm Design; Dynamic Model; Simulation Verification

References

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