基于传感器信息的AUV局部避碰研究  

Research on sensors-based local obstacle avoidance for AUV

作　　者：刘和祥[1] 边信黔[1] 王君 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]空军第一飞行学院,黑龙江哈尔滨150001

出　　处：《传感器与微系统》2007年第12期41-43,46,共4页Transducer and Microsystem Technologies

基　　金：黑龙江省博士后基金资助项目(L13H_Z05098)

摘　　要：采用势场法对自主水下机器人(AUV)进行局部避碰规划。在建立前视声呐视域模型和人工势场模型的基础上,对AUV进行决策控制,通过梯度逼近法对目标进行搜索,快速规划出一条无碰撞的路径。在障碍物检测上,设计了监测模块,实时检测障碍的类型,指导AUV进行运动轨迹解算。在AUV深度控制上,设计了AUV深度行为模糊协调器,对最小潜深、最小距底高度进行协调,实时解算AUV深度行为。开发了AUV运动规划与仿真的半实物软件系统,仿真实验证明了算法的合理性与可行性。研究对于提高AUV的自主性和安全性具有重要的应用价值。The local obstacle avoidance planning for AUV is adopted by potential method. On the basis of building forward looking sonar view model and artificial potential model, decision control of AUV is made, objects are searched through grads approach, a collision free path is planed. In obstacle detection, designed depth behavior fuzzy coordinator to coordinate min depth, and min height to bottom, compute depth behavior in real time. The semi-physical software system for AUV motion planning and simulation is developed, and the feasibility and reliability are verified through simulation tests.

关 键 词：自主水下机器人 传感器 人工势场 监测模块 深度行为模糊协调器 局部避碰 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]