无人船信息融合与避障关键技术综述  

Overview on Information Fusion and Obstacle Avoidance for Unmanned Surface Vehicle

作　　者：王成才 商志刚[1] 何宇帆 陈嘉真 井方才 王冬海[1] WANG Cheng-cai;SHANG Zhi-gang;HE Yu-fan;CHEN Jia-zhen;JING Fang-cai;WANG Dong-hai(China Academy of Electronics and Information Technology,Beijing 100041,China)

机构地区：[1]中国电子科学研究院,北京100041

出　　处：《中国电子科学研究院学报》2019年第12期1228-1232,共5页Journal of China Academy of Electronics and Information Technology

摘　　要：随着海洋开发活动日益增多,无人船作为水面智能任务平台,搭载多种传感器,完成环境监测、水文调查、巡逻搜救等任务。规避船只、岛礁或者其它障碍物,以最优路径到达指定地点是无人船的基本能力之一。本文从信息融合、避障和自主规划等方面论述研究成果,并展望了无人船信息融合和避障的未来的研究方向。As the demand increases for marine operations such as environment monitoring,hydrology survey,search and rescue,and scientific studies,unmanned surface vehicles(USV)have become an intense research area in recent years.As an unmanned surface vehicle,USV carries a variety of different sensor and involves the mechanics,design,system engineering.Obstacle avoidance and search for the optimal path to reach the target point,as one of the core technologies,is an important prerequisite for en-suring safe and efficient navigation of USV.Based on the information fusion,obstacle avoidance,path planning,this paper discusses the relevant research results,and makes a certain prospect for the future search direction.

关 键 词：信息融合 避障 自主规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]