Obstacle avoidance with path restrictions in autonomous underwater vehicles

JUAN LUIS ROSENDO; FABRICIO GARELLI; HERNÁN DE BATTISTA

Buenos Aires

Congreso; AADECA 2018 - Semana del Control Automático - 26º Congreso Argentino de Control Automático; 2018

In this work a simple strict path following techniquewith adaptable speed to avoid potential obstacle collisions isproposed. It is based on an auxiliary loop which is activatedwhen a collision situation occurs. This loop imposes a desireddynamic during the approach situation by means of a slidingmotion. Additionally, it inverts the sense of movement on thepath traveled if a minimum distance tolerance is violated. Theproposed technique operation is illustrated on a realistic simulationperformed over the model of an autonomous underwatervehicle (AUV).