摘要：Based on the background of AUV path planning,the trajectory of dynamic obstacle is predicted according to thecomplex and changeable underwater environment and the motioncharacteristic of underwater vehicle which is different frommobile robot. AUV real-time obstacle avoidance strategy of therelative motion model is proposed in this paper. To achieve safeobstacle avoidance, we determine the probability of collisionby analyzing the current location and movement condition ofthe vehicle and obstacles. We also adjust relative motion bychanging the speed and direction of the vehicle. Finally, it canbe proved by computer simulation experiment that this methodcan predict the trajectory of obstacles accurately, and make thevehicle avoid moving obstacles effectively so that to completethe planning of collision avoidance.
