Study on dynamic obstacle avoidance method for AUV based on sensor information

HONG Ye; BIAN Xin-qian

doi:10.13873/j.1000-97872007.01.008

Chinese

您当前的位置：

首页 >

文章列表页 >

Study on dynamic obstacle avoidance method for AUV based on sensor information

更新时间：2025-09-11

- Study on dynamic obstacle avoidance method for AUV based on sensor information
- Issue 1, Pages: 24-26+29(2007)
- 作者机构：
  
  1. 哈尔滨工程大学自动化学院
  2. 哈尔滨工程大学自动化学院,黑龙江,哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.01.008
  CLC： TP242
- Published：2007
- 稿件说明：
移动端阅览
[1]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(01):24-26+29.

HONG Ye, BIAN Xin-qian. Study on dynamic obstacle avoidance method for AUV based on sensor information[J]. 2007, (1): 24-26+29.
[1]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(01):24-26+29. DOI： 10.13873/j.1000-97872007.01.008.

HONG Ye, BIAN Xin-qian. Study on dynamic obstacle avoidance method for AUV based on sensor information[J]. 2007, (1): 24-26+29. DOI： 10.13873/j.1000-97872007.01.008.

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。

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.

关键词

Keywords

references

基于改进人工势场法的足球机器人避碰控制 [J]. 张祺,杨宜民. 机器人 . 2002(01)

基于栅格方法的移动机器人实时导航和避障 [J]. 马兆青,袁曾任. 机器人 . 1996(06)

Views

544

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design of obstacle avoidance system of wheeled mobile robot based on ARM

The algorithm of autonomous obstacle avoidance based on behavior fusion for mobile robot

Enhanced NO sensor based on Pt nanoparticle-modified La_0.8Sr_0.2FeO₃

Trivalent chromium ion detection sensor based on quartz crystal microbalance

Passive audio acquisition tag chip with UHF RFID

Related Author

TAN Lianzi

ZHANG Liping

PENG Lujia

LIU Cong

TONG Hongwei

BAO Qing-yong1

LI Shun-ming1

SHEN Huan1

Related Institution

College of Eletronic and Electrical Engineering,Shanghai University of Engineering Science

College of Energy and Power Engineering,Nanjing University of Aeronautics andAstronautics

School of Mechanical Engineering,Ningbo University of Technology

College of Information Science and Engineering,Ningbo University

The 49th Research Institute of China Electronics Technology Group Corporation

⁰