Research On Coordinated Collision Avoidance Technology For Multi-AUVs In Unstructure Environment

Autonomous Underwater Vehicle (AUV) plays an important role in marine environment monitoring, seabed resources investigating, science inspecting, dangerous environment exploring, rescue and salvage and so on. Along with the mission become more complicatedly, the single AUV obviously shows insufficient at effectiveness, robustness and flexibility in a large-scale operating mission. It is necessary to coordinate with the help of Multi-AUVs operating together. There are some key techniques such as the relative position detecting between Multi-AUVs, formation controlling and obstacles avoiding in the process of dealing with complicated mission. In this paper, it is proposed to implement the coordinated collision avoidance between multi-AUVs according to the relative difficulty of underwater communication and serious inertial time delay.Firstly, the trend of AUV development and the research meaning are presented and discussed. Secondly, four DOF dynamic model and control architecture of AUV, geometrical model of collision avoidance sonar is designed based on the needs of real-time collision avoidance planning for multi-AUVs. Thirdly, AUV collision avoidance planning based on potential field and potential field trap and braking time delay is investigated and analyzed. Lastly, discussing problems on multi-AUVs collision avoidance; investigateing three coordinated collision avoidance methods based on danger threshold, Avoid-auv performance and dynamic transfer priority; do the simulation verification of multi-AUVs coordinated collision avoidance.The simulation results show that AUV dynamic modeling, control architecture and collision avoidance sonar geometrical modeling are effective. The improved potential field collision avoidance algorithm is effective and the real-time performance is good too. The method of multi-AUVs coordinated collision avoidance planning is reasonable and feasible in dealing with AUV formation collision avoidance. The methods are effective and creative in dealing with multi-AUVs coordinated collision avoidance.