Kim Jonghoek
Electronic and Electrical Department, Sungkyunkwan University, Suwon 03063, Korea.
Sensors (Basel). 2022 Jul 22;22(15):5478. doi: 10.3390/s22155478.
Evading collisions in three-dimensional underwater environments is critical in exploration of an Autonomous Underwater Vehicle (AUV). In underwater environments, AUV measures an obstacle surface by utilizing a three-dimensional active sonar. This article addresses reactive collision evasion control by considering extended obstacles. Here, an extended obstacle is an arbitrary obstacle that can generate any number of measurements and not a point target generating at most one measurement. Considering 3D environments, our manuscript considers collision evasion with both moving obstacles and static obstacles. The proposed reactive collision evasion controllers are developed by considering hardware limits, such as the maximum speed or acceleration limit of an AUV. We further address how to make an AUV move towards a goal, while avoiding collision with extended obstacles. As far as we know, the proposed collision evasion controllers are novel in handling collision avoidance with an extended obstacle, in the case where an AUV measures 3D-obstacle boundaries by utilizing sonar sensors. The effectiveness of the proposed controllers is demonstrated by MATLAB simulations.
在自主水下航行器（AUV）的探索中，在三维水下环境中避免碰撞至关重要。在水下环境中，AUV利用三维主动声纳测量障碍物表面。本文通过考虑扩展障碍物来研究反应式碰撞规避控制。这里，扩展障碍物是指能够产生任意数量测量值的任意障碍物，而不是最多产生一个测量值的点目标。考虑到三维环境，我们的论文考虑了与移动障碍物和静态障碍物的碰撞规避。所提出的反应式碰撞规避控制器是通过考虑硬件限制（如AUV的最大速度或加速度限制）而开发的。我们进一步探讨了如何使AUV在避免与扩展障碍物碰撞的同时朝着目标移动。据我们所知，在所提出的碰撞规避控制器中，在AUV利用声纳传感器测量三维障碍物边界的情况下，处理与扩展障碍物的碰撞规避是新颖的。MATLAB仿真证明了所提出控制器的有效性。
