| 基于碰撞危险度模型的AUV三维避障研究 |
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| 引用本文： | 王奎民,洪晔,边信黔,严浙平.基于碰撞危险度模型的AUV三维避障研究[J].武汉理工大学学报(交通科学与工程版),2008,32(6). |
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| 作者姓名： | 王奎民 洪晔 边信黔 严浙平 |
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| 作者单位： | 哈尔滨工程大学自动化学院,哈尔滨,150001 |
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| 基金项目： | 黑龙江省博士后科研启动金资助
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| 摘 要： | 自治式水下机器人(AUV)在复杂海洋环境航行时要求能够及时躲避障碍物.文中建立了基于前视声呐的环境模型,将未知障碍物信息转化到环境中,并对未知障碍物进行属性判断.将水面船舶的碰撞危险度概念应用到AUV的水下环境避障中,建立新的水下三维碰撞危险度模型,仿真实验证明此方法可以使AUV 在多水下运动障碍物的不确定环境中得到较好的局部避碰效果.
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| 关 键 词： | 自治式水下机器人 碰撞危险度 避障 |
An Obstacles-avoidance Method of Three-dimensional for AUV Based on Collision Risk |
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| Wang Kuimin,Hong Ye,Bian XinQian,Yan Zheping.An Obstacles-avoidance Method of Three-dimensional for AUV Based on Collision Risk[J].journal of wuhan university of technology(transportation science&engineering),2008,32(6). |
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| Authors: | Wang Kuimin Hong Ye Bian XinQian Yan Zheping |
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| Institution: | College of Automation;Harbin Engineering University;Harbin 150001 |
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| Abstract: | It is necessary for AUV(autonomous underwater vehicle) to have the ability of obstacles-avoidance during a long range travel in the unknown ocean environment. Based on the FLS of AUV,the environment model is built up,and the unknown obstacle's information is translated into the environment.The judgment criterion of obstacle motion property is proposed.Consulting the ships,the collision risk model of underwater obstacle for three-dimensional is set up.The simulation results verify that the method provides th... |
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| Keywords: | autonomous underwater vehicle collision risk obstacles avoidance |
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