刘学敏, 李英辉, 徐玉如. 基于运动平衡点的水下机器人自主避障方式[J]. 机器人, 2001, 23(3): 270-274.
引用本文: 刘学敏, 李英辉, 徐玉如. 基于运动平衡点的水下机器人自主避障方式[J]. 机器人, 2001, 23(3): 270-274.
LIU Xue-min, LI Ying-hui, XU Yu-ru. OBSTACLE AVOIDANCE OF AUTONOMOUS UNDERWATER VEHICLES BASED ON BALANCE POINT OF MOTION[J]. ROBOT, 2001, 23(3): 270-274.
Citation: LIU Xue-min, LI Ying-hui, XU Yu-ru. OBSTACLE AVOIDANCE OF AUTONOMOUS UNDERWATER VEHICLES BASED ON BALANCE POINT OF MOTION[J]. ROBOT, 2001, 23(3): 270-274.

基于运动平衡点的水下机器人自主避障方式

OBSTACLE AVOIDANCE OF AUTONOMOUS UNDERWATER VEHICLES BASED ON BALANCE POINT OF MOTION

  • 摘要: 当前大多数水下机器人的实时避障方式只简单地考虑了目标和障碍物之间的相对距离,并没有考虑实际的海洋环境以及会不会对控制器产生不利的影响.本文研究的目的就是从实际出发,通过设定各个自由度上的运动平衡点,将水下机器人的自主避障规划和运动控制结合起来,设计出一个集目标、障碍物和控制性能一体的避障规划方式,从仿真实验结果来看,机器人可以安全地通过障碍空间,到达目的地.

     

    Abstract: Update now,most of methods of real-time obstacle avoidance of AUVs are just only considering the relative distance between target and AUV and the distances between obstacles and AUV,but the real sea environment and its bad effects asserted on controller are not given enough notices. The target of this paper is to combine obstacle avoidance planning with motion control according to the real situation and to design a new method incorporating task goal,obstacles and control performance. The results of simulation show that the planning effect is satisfying.

     

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