Virtual simulation technology of 3D obstacle avoidance algorithm for AUV

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋信息技术装备中心

	Virtual simulation technology of 3D obstacle avoidance algorithm for AUV
	Gao L(高雷)2 ; Gao, Wang 1; Gu HT(谷海涛)2
	2018
会议日期	October 22-24, 2018
会议地点	Hohhot, China
关键词	Virtual simulation technology sonar imaging simulation sonar physical model 3D obstacle avoidance algorithm
页码	1-5
英文摘要	In this paper1, virtual simulation technology of 3D obstacle avoidance algorithm for AUV is presented, which can be used to simulate the underwater environment, and simulates AUV underwater autonomous obstacle avoidance. The research based on virtual simulation technology. The obstacle model is imported into Vega, and then the obstacle avoidance sonar image and obstacle information can be simulated by setting reasonable parameters in the sonar simulation module. Then, 3D obstacle avoidance algorithm, which based on fuzzy control algorithm and finite state automata algorithm, can guide AUV to avoid obstacles in real time. Finally, the experiments results show that the method is easy to be implemented by computer and meets the practical requirements of obstacle avoidance based on sonar image processing and display. The underwater autonomous 3D obstacle avoidance algorithm can be fully verified.
源文献作者	Association for Science and Engineering (ASciE)
产权排序	1
会议录	Proceedings of 2nd International Conference on Computer Science and Application Engineering, CSAE 2018
会议录出版者	ACM
会议录出版地	New York
语种	英语
ISBN号	978-1-4503-6512-3
WOS记录号	WOS:000455679900117
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23587]
专题	沈阳自动化研究所_海洋信息技术装备中心
通讯作者	Gao L(高雷)
作者单位	1.Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation CAS, China
推荐引用方式 GB/T 7714	Gao L,Gao, Wang,Gu HT. Virtual simulation technology of 3D obstacle avoidance algorithm for AUV[C]. 见:. Hohhot, China. October 22-24, 2018.