Avoidance for AUV with mobile obstacles based on current interference

In this paper, moving obstacles and collision avoidance problems are investigated for AUV (autonomous underwater vehicle). First, based on the cotton operator, the obstacle avoidance vector is proposed for the AUV to calculate the distances between the obstacles and the AUV. Second, a novel observer which can be used to estimate current interference is proposed. Then the proposed controller can not only guarantee collision avoidance but also can guarantee the AUV return to its desired position after the AUV avoids obstacles. Finally, the simulation results demonstrate the effectiveness of the proposed control algorithm.