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	An obstacle avoidance algorithm designed for USV based on single beam sonar and fuzzy control
	Chen, Jie ; Pan, Wei ; Guo, Yinbin ; Huang, Chaoxi ; Wu, Haitao ; Chen J(陈杰) ; Pan W(潘伟) ; Guo YB(郭隐彪)
	2013
关键词	Biomimetics Fuzzy control Real time control Robotics Water quality
英文摘要	Conference Name:2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. Conference Address: Shenzhen, China. Time:December 12, 2013 - December 14, 2013.; This paper presents an innovative obstacle avoidance method based on fuzzy control technology and Potential field method for a miniaturized and low cost USV (Unmanned Surface Vehicle), which is designed for offshore water quality testing. The micron DST sonar, a miniaturized mechanically side-scan sonar, is adopted as environmental information collection sensor, for its flexible control mode and low cost. The use of MCU (Micro Controller Unit) and android System ensure a good real-time control. We conducted a series of experiments both in swimming pool and in lake, with stationary and motive obstacles. The result shows that the method presented is suitable for the USV. ? 2013 IEEE.
语种	英语
出处	http://dx.doi.org/10.1109/ROBIO.2013.6739838
出版者	IEEE Computer Society
内容类型	其他
源URL	[http://dspace.xmu.edu.cn/handle/2288/86100]
专题	物理技术－会议论文
推荐引用方式 GB/T 7714	Chen, Jie,Pan, Wei,Guo, Yinbin,et al. An obstacle avoidance algorithm designed for USV based on single beam sonar and fuzzy control. 2013-01-01.

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