Path Planning based on Artificial Potential Field for Underwater Vehicles under Ocean Current Disturbance

Funlun Wang

《International Core Journal of Engineering》 8卷4期 (2022/04) Pp. 367-371

https://doi.org/10.6919/ICJE.202204_8(4).0047

摘要

The path planning problem of the underwater vehicles under ocean current disturbance is studied in this paper. Considering the influence of ocean current on underwater vehicles, an improved artificial potential field algorithm is proposed. For ocean current disturbance, a new current potential field is added to the traditional algorithms. Finally, the path planning ability of the proposed method is validated by simulation analysis.

關鍵字

Path Planning ； Ocean Current Disturbance ； Artificial Potential Field ； Underwater Vehicle

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