Track planning and obstacle avoidance of wave glider based on improved artificial potential field algorithm

Abstract

The research on track planning and obstacle avoidance methods of wave glider is an indispensable ability for its smooth work in the ocean. As a real-time track planning and obstacle avoidance algorithm, artificial potential field algorithm has attracted extensive attention. Aiming at the problem that the target point can not be reached in the traditional artificial potential field algorithm, the distance factor between the wave glider and the target point is introduced into the repulsive potential field; The relative velocity potential field function is introduced and the influence of velocity potential field is enhanced to solve the threat of dynamic obstacles to wave gliders. Then, based on the motion characteristics of wave gliders, the influence of stable waves in a certain range on track planning and obstacle avoidance is analyzed. Finally, the simulation analysis is carried out. The simulation results show that this method has good track planning and obstacle avoidance effect, and the generated path is smooth. Fixed the problem of not being able to reach the target.