远程自治水下机器人三维实时避障方法研究  

A 3-DIMENSION REAL-TIME OBSTACLE AVOIDANCE METHOD FOR LONG-DISTANCE AUV

作　　者：张禹[1] 邢志伟[1] 黄俊峰[1] 封锡盛[1] 

机构地区：[1]中国科学院沈阳自动化研究所水下机器人研究室

出　　处：《机器人》2003年第6期481-485,共5页Robot

摘　　要：海洋环境通常是不确定、非结构化和未知的 ,而远程AUV(LAUV)的避障声纳对环境感知有一定的局限 ,因此很难建立起精确、完整和统一的三维环境模型 .LAUV实时避障是一个实时性很强的动态过程 ,它不但与环境有关 ,而且还与LAUV的运动学约束、动力学特性和操纵性有关 .The ocean environment is always uncertain, unstructured and unknown. Furthermore, the obstacle avoidance sonars of long distance AUV (LAUV) only have restricted abilities to get environmental information. These facts make it very difficult to build a precise, complete and general 3 dimension model for ocean environment. Real time Obstacle Avoidance (ROA) of LAUV is a dynamic process with distinct real time characteristics. It is related to ocean environment, as well as kinematics restriction, dynamics and maneuver. To solve these problems, a fuzzy obstacle avoidance algorithm based on complex control strategy is presented in this paper.

关 键 词：远程自治水下机器人 三维实时避障 路径规划 运动控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]