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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 9

Obstacle avoidance algorithm based on artificial potential field for AUV in constrained underwater 3D space

Wu Jiajun1,2
Zhang Meiyan2
Xu Su'an1
Fu Shudan2
1. College of Mechanical & Electrical Engineering, China Jiliang University, Hangzhou Zhejiang 310018, China
2. College of Electrical Engineering, Zhejiang University of Water Resources & Electric Power, Hangzhou Zhejiang 310018, China
DOI: 10.19734/j.issn.1001-3695.2025.02.0047

Abstract

To solve the problem that autonomous underwater vehicles struggle to avoid randomly moving obstacles under three-dimensional ocean current disturbances, an improved artificial potential field method was proposed. This method extended the traditional 2D artificial potential field to 3D space by transforming between Cartesian and spherical coordinate systems. A safety distance mechanism and adjustable factors were introduced to optimize the potential field computation, making it suitable for obstacle avoidance path planning in dynamic environments. An ocean current model and an AUV dynamic model were established to simulate the actual trajectories of the AUV under current disturbances. Simulation results showed that, under identical parameter conditions, the improved algorithm increased the obstacle avoidance success rate by 80% compared with traditional methods. It also demonstrated good performance under various parameter combinations. Compared with conventional algorithms, the improved method exhibits stronger adaptability and robustness in environments with moving obstacles.

Foundation Support

国家自然科学基金资助项目(面向环境感知与学习的水下机器人网络编队协同方法,62271179)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.02.0047
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 9

Publish History

[2025-05-22] Accepted Paper

Cite This Article

吴佳俊, 张美燕, 许素安, 等. 面向水下三维空间约束的AUV人工势场避障算法 [J]. 计算机应用研究, 2025, 42 (9). (2025-05-27). https://doi.org/10.19734/j.issn.1001-3695.2025.02.0047. (Wu Jiajun, Zhang Meiyan, Xu Su'an, et al. Obstacle avoidance algorithm based on artificial potential field for AUV in constrained underwater 3D space [J]. Application Research of Computers, 2025, 42 (9). (2025-05-27). https://doi.org/10.19734/j.issn.1001-3695.2025.02.0047. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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