Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

Figure 11

Avoidance scenes in different phases and 𝐇 value of Case 2.

(a) Avoidance scene in 𝑇=290 s

(b) The 𝐇 in 𝑇=290 s

(c) Avoidance scene in 𝑇=600 s

(d) The 𝐇 in 𝑇=600 s

(e) Avoidance scene in 𝑇=950 s

(f) The 𝐇 in 𝑇=950 s