深海集矿机模型车避障系统设计  

Avoidance System Design for Deep-seabed Nodule-Collecting Model Vehicle

作　　者：王随平[1] 熊光辉[1] 陈勇[1] 

机构地区：[1]中南大学 信息科学与工程学院,湖南长沙410083

出　　处：《计算机测量与控制》2008年第5期640-642,共3页Computer Measurement &Control

基　　金：国际海底区域研究开发"十五"项目(DY105-03-02-06);国家重点基础研究发展规划项目(2002CB312203)

摘　　要：考虑深海底集矿机的未知、复杂工作环境以及在集矿机上做试验的不便,设计并实现了深海集矿机模型车避障系统;该系统先用超声波传感器检测障碍物信息,然后用高性能单片机AT89S52对信息进行处理后传送到水下工控机,在此基础上,运用改进势场法进行行走避障,规划出深海集矿机模型车作业路径;此算法适应于动态未知复杂环境下的深海集矿机实时导航和避障,且在目标点附近存在障碍物时也能达到目标;仿真和试验结果验证了该算法的有效性。Avoidance System for Deep--seabed Nodule--Collecting Model Vehicle was designed according to unknown and complex environment and inconvenience for experiment. The distance information of obstacles was firstly detected by ultrasonic sensors in this system and then was send to the underwater industrial computer after it was processed by the high performance MCU--AT89S52. Lastly, obstacles avoiddance of Deep--seabed Nodule--Collecting Model Vehicle was realized by improved artificial potential field and the working path was planned in time. This method is valid in complex and dynamic environment. It also can overcome the problem of unreachable goals near the obstacles. The effectiveness of this method is veri- fied by simulation and experiment results.

关 键 词：深海底 集矿机模型车 避障 改进人工势场法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TD857[自动化与计算机技术—控制科学与工程]