水下无人系统学报2025，Vol.33Issue(1)：15-23,9.DOI:10.11993/j.issn.2096-3920.2024-0077
洋流环境下基于DVFH+的AUV避障控制
Obstacle Avoidance Control of Autonomous Undersea Vehicle Based on DVFH+in Ocean Current Environment
摘要
Abstract
The improved vector field histogram algorithm(VFH+)tends to overlook the autonomous undersea vehicle(AUV)dynamics and ocean current effects,and it is sensitive to threshold selection.To address this issue,a dynamics-based VFH+(DVFH+)algorithm was proposed in this paper.By incorporating AUV dynamics parameters to limit the expected heading output,this method reduced abrupt changes in the expected algorithm output,thereby improving AUV's tracking performance.Additionally,by considering the drift angle compensation in the real ocean current environment,the obstacle avoidance algorithm was optimized to improve its robustness and adaptability.By using information about obstacles,the threshold values were adjusted automatically.This enabled the calculation of the planning instructions based on environmental characteristics around AUVs,ensuring the efficiency and safety of navigation.Simulation experiments using the REMUS 100 AUV model show that DVFH+can provide a smoother and more feasible obstacle avoidance route,making it suitable for AUV obstacle avoidance in complex environments while effectively preventing issues such as detouring and planning failure caused by improper threshold settings in the original algorithm.关键词
自主水下航行器/避障控制/向量场直方图/洋流环境/动力学性能Key words
autonomous undersea vehicle/obstacle avoidance control/vector filed histogram/ocean current environment/dynamics performance分类
武器工业引用本文复制引用
朱仲本,张嘉豪,薛祎凡,秦洪德..洋流环境下基于DVFH+的AUV避障控制[J].水下无人系统学报,2025,33(1):15-23,9.基金项目
国家自然科学基金杰出青年基金(52025111) （52025111）
山东省自然科学基金青年基金(ZR202211130097). （ZR202211130097）
