Chinese Journal of Ship Research, Volume. 20, Issue 1, 181(2025)

High-speed 3D obstacle avoidance method for large-scale AUVs under limited field of view and multiple constraints

Xianghong LI... Lin YU, Jing SU and Lei QIAO |Show fewer author(s)
Author Affiliations
  • School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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    Figures & Tables(17)
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    • Table 1. Kinematic and dynamic variables in experiment (1)

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      Table 1. Kinematic and dynamic variables in experiment (1)

      参数属性数值参数属性数值
      速度/(m·s−1平均值5.66加速度/(m·s−2平均值0.11
      标准差1.05标准差0.20
      最大值6.06最大值0.88
      俯仰角速度/(rad·s−1平均值0.02俯仰角加速度/(rad·s−2平均值0.01
      标准差0.02标准差0.02
      最大值0.07最大值0.09
      偏航角速度/(rad·s−1平均值0.04偏航角加速度/(rad·s−2平均值0.02
      标准差0.03标准差0.03
      最大值0.12最大值0.13
    • Table 2. Kinematic and dynamic variables in experiment (2)

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      Table 2. Kinematic and dynamic variables in experiment (2)

      参数属性数值参数属性数值
      速度/(m·s−1平均值6.47加速度/(m·s−2平均值0.16
      标准差1.39标准差0.24
      最大值7.08最大值0.92
      俯仰角速度/(rad·s−1平均值0.02俯仰角加速度/(rad·s−2平均值0.01
      标准差0.02标准差0.02
      最大值0.08最大值0.11
      偏航角速度/(rad·s−1平均值0.04偏航角加速度/(rad·s−2平均值0.03
      标准差0.03标准差0.03
      最大值0.12最大值0.15
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    Xianghong LI, Lin YU, Jing SU, Lei QIAO. High-speed 3D obstacle avoidance method for large-scale AUVs under limited field of view and multiple constraints[J]. Chinese Journal of Ship Research, 2025, 20(1): 181

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    Paper Information

    Category: Planning and Decision-making

    Received: Jul. 22, 2024

    Accepted: Sep. 24, 2024

    Published Online: Mar. 13, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.04084

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