Obstacle Avoidance for AUV using CAPM

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Journal of the Korea Institute of Military Science and Technology 2001;4(2):17-29.

CAPM을 이용한 AUV의 장애물 회피

양승윤

국방과학연구소 제2체계개발본부

Abstract

In this paper, we designed the hybrid path generation method which is named CAPM(Continuous path generation method based on artificial Potential field) that is able to be used in the obstacles environment. This CAPM was designed so that it puts together two obstacle avoidance algorithm-the continuous path generation method(CPGM) and the artificial potential field method(APFM). Here, the CAPM generate the safety path using continuous path curvature. But, this method has demerits when used in obstacles environment in which are closely located. Another method which is named the APFM generates the path with the artificial potential field in the obstacles environment. But, It has local minima in certain places and unnecessarily calculates the path in which obstacles are not located. So, the CAPM was designed for autonomous underwater vehicle(AUV) obstacle avoidance. As the result of simulation, it was confirmed that the CAPM can be applied to a safe path generation for AUV.

Key Words: Path Tracking, Path Generation, Obstacle Avoidance