Research on AUV Obstacle Avoidance Based on BP Neural Network

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	Research on AUV Obstacle Avoidance Based on BP Neural Network
	Dong LY(董凌艳); Xu HL(徐红丽)
作者部门	海洋信息技术装备中心
会议名称	2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017)
会议日期	September 15-18, 2017
会议地点	Kitakyushu, Japan
会议录名称	2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017)
出版者	ACM
出版地	New York
	2017
页码	26-29
收录类别	EI ; CPCI（ISTP）
EI收录号	20175204569586
WOS记录号	WOS:000442640500006
产权排序	1
ISBN号	978-1-4503-5327-4
关键词	Obstacle Avoidance Auv Bp Neural Network.
摘要	Autonomous underwater vehicle should have real-time obstacle avoidance ability of self-protection in autonomous operation in unknown environment. A three-dimensional real-time obstacle avoidance method is proposed for under-actuated AUV with the distance sensor as obstacle avoidance sensor. The output information of the distance sensor is converted into a dangerous degree which as the input of BP neural network. The output of BP neural network is the heading or the depth of AUV which is to be adjusted. The effectiveness of obstacle avoidance method based on BP neural network is verified by MATLAB simulation.
语种	英语
引用统计
文献类型	会议论文
条目标识符	http://ir.sia.cn/handle/173321/21295
专题	海洋信息技术装备中心
通讯作者	Dong LY(董凌艳)
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China 2.University of Chinese Academy of Science, Beijing, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
推荐引用方式 GB/T 7714	Dong LY,Xu HL. Research on AUV Obstacle Avoidance Based on BP Neural Network[C]. New York:ACM,2017:26-29.

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