AUV Path Planning in Dynamic Environment Based on Improved Artificial Potential Field Method Based on Visibility Graph

In order to solve the forced shaking problem of the Autonomous Underwater Vehicle (AUV) facing dynamic obstacles in the path planning when the Artificial Potential Field Method is used, a method of removing the shaking state based on a favorable path is proposed, and on this basis, Visibility Graph Method is used to optimize the path of the AUV to avoid dynamic obstacles. By judging the relative motion direction of AUV and dynamic obstacle, the moving direction of AUV is adjusted based on Visibility Graph Method when it is far away from the obstacle. When it is close to the obstacle, the direction conducive to approaching the target point is selected as the favorable forward direction to bypass the obstacle. The simulation results show that the dynamic obstacle avoidance path optimization method based on the Visibility Graph Method reduces the number of moving steps by about 19% compared with the traditional method when dealing with a single dynamic obstacle, and can be applied in complex environments with multiple dynamic obstacles.