Research on IVPF 3D Dynamic Local AUV Path Planning Algorithm

This study introduces an innovative algorithm grounded in the Improved Velocity Potential Field (IVPF) framework, and systematically investigates obstacle avoidance methodologies tailored to diverse obstacle categories, orientations, and dynamic states. The system is capable of executing avoidance strategies for a minimum of five dynamic obstacles within a specified range. It formulates collision avoidance protocols specifically for encounter-type dynamic obstacles, thereby mitigating the intrinsic limitation of inaccessible target points inherent in the artificial potential field method, thereby ensuring the safety of autonomous underwater vehicle (AUV) navigation.