融合VO和DWA的无人潜航器三维空间避障研究OA

To address the low efficiency of existing Unmanned Underwater Vehicles(UUVs)in autonomous obsta-cle avoidance within complex marine environments,this paper proposes a three-dimensional(3D)obstacle avoid-ance algorithm that integrates the Velocity Obstacle(VO)method and the Dynamic Window Approach(DWA).First,a collision cone and a polar coordinate system are introduced,and a corresponding collision detection method is developed.This extends both the VO and DWA methods,originally designed for two-dimensional space,into three dimensions.Second,by defining the range of a detection sphere around the UUV,obstacles entering this region are classified as dynamic or static.Collision detection is then performed using the collision cone and polar coordinate motion models,respectively,to generate a set of feasible trajectories.Finally,an evaluation function selects the opti-mal path from these candidates.This process iterates in real time to enable efficient obstacle avoidance.Three-di-mensional simulation experiments demonstrate that the UUV using this fusion algorithm successfully avoids all colli-sions.In a fully dynamic obstacle scenario,the proposed method reduces the trajectory length by 5.78％compared to the pure VO method and shortens the task completion time by 16.91％compared to the pure DWA method,while also requiring less computational runtime.The proposed algorithm offers valuable insights for enhancing the autono-mous obstacle avoidance capability of UUVs in complex underwater environments.