Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

Figure 8

Avoidance scenes in different phases and 𝐇 value of Case 1.

(a) Avoidance scene in 𝑇=60 s

(b) The 𝐇 in 𝑇=60 s

(c) Avoidance scene in 𝑇=200 s

(d) The 𝐇 in 𝑇=200 s

(e) Avoidance scene in 𝑇=300 s

(f) The 𝐇 in 𝑇=300 s