A Trajectory Planning Method of Autonomous Underwater Vehicles Based on Repulsive Field Model Prediction

In this paper, a model prediction method based on repulsive force field is proposed for the two-dimensional trajectory planning of Autonomous Underwater Vehicles (AUV). Firstly, the linear model prediction method is used to solve the point-to-point trajectory planning task in finite time. Then, according to the obstacle avoidance requirements in the planning task, the obstacle avoidance behavior is designed by using the principle of repulsive force field in the artificial potential field. A safe distance is set around obstacles. Every time the next trajectory point is planned, it is necessary to judge whether the AUV enters the range of obstacles with a safe distance. If it enters, the repulsive field obstacle avoidance behavior is started. Finally, through simulation experiments, it is verified that the proposed algorithm can achieve the trajectory planning task of UUVs without collision and meet the requirements of speed controllability in two-dimensional underwater environment.