Forward obstacle avoidance method for AUV based on 3D imaging sonar technology

CHEN Wen-yuan; SHEN Bin-jian

doi:10.13873/J.1000-9787(2015)04-0012-04

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Forward obstacle avoidance method for AUV based on 3D imaging sonar technology

更新时间：2025-09-11

- Forward obstacle avoidance method for AUV based on 3D imaging sonar technology
- Vol. 34, Issue 4, Pages: 12-15(2015)
- 作者机构：
  
  中国船舶重工集团公司第七一五研究所
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2015)04-0012-04
  CLC： TP242;TP391.41
- Published：2015
- 稿件说明：
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[1]陈文渊,沈斌坚.基于三维成像声纳技术的AUV前视避障方法[J].传感器与微系统,2015,34(04):12-15.

CHEN Wen-yuan, SHEN Bin-jian. Forward obstacle avoidance method for AUV based on 3D imaging sonar technology[J]. 2015, 34(4): 12-15.
[1]陈文渊,沈斌坚.基于三维成像声纳技术的AUV前视避障方法[J].传感器与微系统,2015,34(04):12-15. DOI： 10.13873/J.1000-9787(2015)04-0012-04.

CHEN Wen-yuan, SHEN Bin-jian. Forward obstacle avoidance method for AUV based on 3D imaging sonar technology[J]. 2015, 34(4): 12-15. DOI： 10.13873/J.1000-9787(2015)04-0012-04.

摘要

针对自主式水下航行器（AUV）在水下自主航行过程中的避障问题

提出了一种基于三维成像声纳技术的前视避障方法。该方法使用三维成像声纳探测目标

通过声纳目标图像处理提取目标

完成目标的运动状态分析和轨迹预测。通过设置碰撞区域

建立避障模型和设计避障规则

实现了AUV的智能化避障。借助于其他传感器

这些关联模块构成了一个集目标探测、目标提取、轨迹预测、避障与路线回归等功能于一体的闭环系统。

Abstract

A forward obstacle avoidance method based on 3D imaging sonar technology is presented

aiming at problem of obstacle avoidance during underwater autonomous navigation for AUV. The method detects sonar targets by using 3D imaging sonar and extracts target via sonar images processing

achieve analysis on moving status of underwater objects and predict moving track. By setting up collision area

build model for obstacle avoidance and design obstacle avoidance rules

realize AUV intelligent obstacles avoidance. With the help of the other sensors

these related modules form an entire closed-loop system which integrates the functions including object detection

object extraction

track prediction

obstacle avoidance and path regression.

关键词

Keywords

references

采用分级聚焦波束形成的快速声成像算法 [J]. 谌颖,叶青华,黄海宁. 应用声学 . 2008(03)

数值逼近[M]. 复旦大学出版社 , 蒋尔雄, 2008

数字图像处理[M]. 电子工业出版社 , (美)RafaelC.Gonzalez,（美）RichardE.Woods,（美）StevenL.Eddins著, 2005

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