Online Collaborative Obstacle Avoidance Path Planning Based on Multi-AUV

In the allocation tasks of multiple autonomous underwater vehicles (AUVs) and multi-destination in wartime, due to its tense situation and changeable and complex task requirements, there are difficulties in task allocation and collaborative path planning between AUVs. In order to solve this problem, this paper proposes an online collaborative obstacle avoidance path planning method based on multi-AUV. Firstly, this method establishes an information sharing function to obtain the real-time path planning information of each AUV and judge whether to carry out cooperative obstacle avoidance. Next, a multi-AUV collaborative obstacle avoidance strategy is established to ensure the temporal and spatial safety constraints among the AUVs. Then, a multi-AUV optimization mechanism is designed to plan the path of each AUV based on the obstacle avoidance rules. Finally, through experiments, it was verified that the proposed method has higher practicality and safety.