Three-Dimensional Spatial Obstacle Avoidance Algorithm Based on Dynamic Virtual Spherical Shells and Hybrid Control Laws

To address the obstacle avoidance challenge in autonomous navigation of Remotely Operated Vehicle (ROV) in underwater environments, this paper proposes a three-dimensional spatial obstacle avoidance algorithm based on dynamic virtual spherical shells and hybrid control laws. First, a dynamic virtual spherical shell technique is designed to smooth non-convex obstacle boundaries, ensuring the uniqueness of projection points. Second, a dual-mode hybrid control law is developed, enabling seamless switching between target mode and obstacle avoidance mode through flow sets and jump sets. Finally, real-time adaptation to unknown environments is achieved using local sensor data. Simulation experiments demonstrate that this method performs exceptionally well across various obstacle scenarios. Compared to Bug2, the Dynamic Window Approach (DWA), and the Artificial Potential Field (APF) algorithm, it achieves higher obstacle avoidance efficiency and shorter convergence times.