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。
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.
出处
《传感器与微系统》
CSCD
北大核心
2007年第1期24-26,29,共4页
Transducer and Microsystem Technologies
关键词
传感器
自治式水下机器人
避障
栅格
sensor
autonomous underwater vehicle （AUV）
obstacle avoidance
grids
