An Improved Artificial Potential Field Algorithm for AUV Path Planning

Basic artificial field method does not work well for AUV path planning because of its weakness in optimization and real-time performance. Sometimes it may even go into a deadlock. The improved artificial field method is developed to solve these problems. The effect of repulsive force field is replaced by the sliding area around obstacles and the criteria for controlling sliding movement of an AUV are defined. The criteria are used for identification of the sliding area, determination of sliding parameters and discrimination of sliding direction. Simulations are performed with MATLAB. Both basic and improved algorithms are tested. The tests show that after correcting attractive force, sliding parameters and sliding trajectory, the improved artificial potential field method works well in dynamic planning of AUV path.