一种基于图像声纳的AUV局部路径规划方法

详细信息

Image-sonar-based Local Path Planning for AUV

College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China

摘要: 以前视图像声纳作为环境感知系统，进行了智能水下机器人的局部路径规划．以串口接收图像声纳探测数据，建立环境数学模型．以数学形态学的方法去除环境数据噪声，以dt值传递法搜索最佳路径．海试实验验证了算法的可靠性．
- 局部路径规划 /
- 图像声纳 /
- 数学形态学 /
- dt值传递法
Abstract: With image sonar as the environment-detecting system, local path planning for AUV(Autonomous Underwater Vehicle) is made in this paper. The detecting data is received through serial port, and the mathematic environment model is established. Noise is filtered with the method of mathematic morphology and optimal path is searched by dt propagation. Experiment on the sea proves that this algorithm is reliable.
- local path planning /
- image sonar /
- mathematical morphology /
- dt propagation

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