未知环境下多AUV协同避障方法研究

iming at the problem that it is difficult to take into account both obstacle avoidance and formation when multi-AUV system plans path in unknown environment, this paper proposed a multi-AUV cooperative obstacle avoidance method based on leader-follower and behavior. First, this paper designed a local path planning method for AUV by constructing the evaluation function of collision risk and deviation from the target; on this basis, combined with formation control method, this paper designed different behaviors and behavior selection patterns for leader and followers respectively. The semi-physical simulation experiment results show that the algorithm can realize the cooperative obstacle avoidance of multi-AUV system in unknown environment, and the formation deviation and recovery time are better than traditional multi-robot obstacle avoidance algorithms. Experimental results verify the feasibility and effectiveness of the algorithm.