Wei Zhang,∗ Shilin Wei,∗ Jia Zeng,∗ and Naixin Wang∗
Fish-region trust region algorithm, multi-UUV, path planning,dynamic environment
The traditional artificial potential field method has disadvantages such as unreachable targets near obstacles, local minimum points and oscillations. It is analysed and improved in this paper to get a path planning method based on “domain for multiple underwater unmanned vehicles (UUVs) in a three-dimensional environment. Firstly, the attractiveness of the target and the repulsive force of the obstacle are transformed into potential field strength. The method of calculating the potential field strength is used instead of the traditional vector force control. The speed obstacle method is used to judge the influence of dynamic obstacles, and the speed potential field is introduced to strengthen the planning ability in the dynamic environment. Secondly, the novel fish-region trust region algorithm is used to solve the sub-target points. Finally, the regression algorithm is used to further optimize the path to reduce unnecessary path points. Simulation results show that this improved method effectively makes up for the shortcomings of the traditional artificial potential field method, and can better perform UUV path planning in a dynamic environment.
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