| 基于传感器信息的水下机器人动态避障研究 |
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| 引用本文： | 洪晔,边信黔.基于传感器信息的水下机器人动态避障研究[J].传感器与微系统,2007,26(1):24-26,29. |
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| 作者姓名： | 洪晔 边信黔 |
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| 作者单位： | 哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 提出一种新的基于传感器信息的自治式水下机器人(AUV)动态避障方法。介绍了传感器的工作原理。通过栅格法把传感器采集的AUV运行环境障碍信息进行合理描述,并预测动态障碍物的速度,保证AUV能够根据传感器信息躲避障碍物,达到航行要求。最后,通过仿真实验对机器人自主避障能力进行了验证。
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| 关 键 词： | 传感器 自治式水下机器人 避障 栅格 |
| 文章编号： | 1000-9787（2007）01-0024-03 |
| 修稿时间： | 2006-06-19 |
Study on dynamic obstacle avoidance method for AUV based on sensor information |
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| HONG Ye,BIAN Xin-qian.Study on dynamic obstacle avoidance method for AUV based on sensor information[J].Transducer and Microsystem Technology,2007,26(1):24-26,29. |
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| Authors: | HONG Ye BIAN Xin-qian |
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| Affiliation: | Institute of Automation, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | A new dynamic obstacle avoiding method of autonomous underwater vehicle(AUV) based on the sensing information is proposed.The operating principle of sensor is introduced.The environment obstacle information collected by sensor is described by the grid method and the velocity of dynamic obstacles can be predicted.AUV can avoid the obstacles according to the information of sensor to meet the acquirement of long range voyage.Finally the obstacle avoiding ability of AUV is validated by the simulation test. |
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| Keywords: | sensor autonomous underwater vehicle(AUV) obstacle avoidance grids |
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