A global path planning algorithm for AUV based on improved artificial potential field method

WANG Lei; LIU Jingjing; QI Junyan; HE Junyi

doi:10.16186/j.cnki.1673-9787.2021090056

Abstract：Objective In order to solve the problems of collision,unreachable targets,and local minima in the traditional artificial potential field method for path planning of AUV(Autonomous Underwater Vehicle),Methods an AUV global path planning algorithm based on an improved artificial potential field method(IAPF)was proposed.Firstly,to address the collision issue caused by excessive gravity,a threshold limit was introduced to restrict the attraction of target points.Secondly,a distance correction factor was added to the repulsion field to modify the repulsion function,for preventing the target point from being too close to ob-stacles and causing the target to become unreachable due to repulsion greater than gravity.Additionally,con-sidering that the unequal size of obstacles can affect the range of repulsion,the minimum safe distance to obstacles was modified.Finally,an external force was added to the model,utilizing the combined effect of the external force and potential field force to guide the AUV along the tangent direction,thus escaping from local minima or trap regions.Results Through simulation experiments,the algorithm proposed in this article was able to plan an optimal path,and compared to similar algorithms,it had a shorter algorithm runtime and higher success rate.Conclusion The AUV global path planning algorithm based on the improved artificial potential field method proposed in this article effectively solved the issues of collision,unreachable targets,and local minima in the traditional artificial potential field method for path planning of AUVs.By introduc-ing thresholds,distance correction factors,minimum safe distance corrections,and external forces,this algo-rithm demonstrates improved performance in path planning for AUVs.