Research on autonomous collision avoidance of air cushion vehicle based on improved artificial potential field method

The capability of avoiding static obstacles independently is the premise for air cushion vehicle (ACV) operating safely. In this article, an ACV collision avoidance control based on improved artificial potential field method is designed as auxiliary operating system to ensure safe navigation of ACV. It builds mathematical model of the ACV and searches the data of static obstacles. Besides, the collision avoidance algorithm is analyzed by improved artificial potential field method and, the collision avoidance model of ACV is built on the basis of mathematical model. Then, the process of ACV collision avoidance is completed in consideration of the ACV wouldn't get into local minimum point when existing obstacles near the target. The effectiveness of the method is verified by simulation.