邹海, 边信黔, 常宗虎. 基于多波束前视声纳的AUV实时避障方法研究[J]. 机器人, 2007, 29(1): 82-87.
引用本文: 邹海, 边信黔, 常宗虎. 基于多波束前视声纳的AUV实时避障方法研究[J]. 机器人, 2007, 29(1): 82-87.
ZOU Hai, BIAN Xin-qian, CHANG Zong-hu. A Real-time Obstacle Avoidance Method for AUV Using a Multibeam Forward Looking Sonar[J]. ROBOT, 2007, 29(1): 82-87.
Citation: ZOU Hai, BIAN Xin-qian, CHANG Zong-hu. A Real-time Obstacle Avoidance Method for AUV Using a Multibeam Forward Looking Sonar[J]. ROBOT, 2007, 29(1): 82-87.

基于多波束前视声纳的AUV实时避障方法研究

A Real-time Obstacle Avoidance Method for AUV Using a Multibeam Forward Looking Sonar

  • 摘要: 在未知海洋环境下的远程航海过程中,基于前视声纳的避障能力是AUV(自治式水下机器人)的一个基本要求.提出了一种基于多波束前视声纳的实时避障专家系统.介绍了声纳特性以及障碍物描述方法,给出了避障专家系统的结构,说明了避障专家系统的决策过程.结合当前任务执行信息设计了专家系统知识库,针对声纳图像设计并实现了一种可以给出避障和重规划指令的推理机.最后,通过湖试对AUV避障专家系统进行了验证.

     

    Abstract: The ability of obstacle avoidance based on forward looking sonar is a basic requirement of AUV(autonomous underwater vehicle) during a long range travel in the unknown ocean environment.A real-time obstacle-avoiding expert system based on a multibeam forward looking sonar is presented.The specifications of sonar and the description of obstacles are introduced.Structure of the obstacle-avoiding expert system is given.The decision-making process of the obstacle-avoiding expert system is illustrated.Knowledge base of the expert system is designed based on the information of task execution.The inference engine is designed and implemented according to the images of sonar,which can send instructions of obstacle avoidance and path re-planning.Lake test validates the obstacle-avoiding expert system.

     

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