| Research on AUV Obstacle Avoidance Based on BP Neural Network | |
Dong LY(董凌艳); Xu HL(徐红丽)
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| Department | 海洋信息技术装备中心 |
| Conference Name | 2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017) |
| Conference Date | September 15-18, 2017 |
| Conference Place | Kitakyushu, Japan |
| Source Publication | 2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017) |
| Publisher | ACM |
| Publication Place | New York |
| 2017 | |
| Pages | 26-29 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20175204569586 |
| WOS ID | WOS:000442640500006 |
| Contribution Rank | 1 |
| ISBN | 978-1-4503-5327-4 |
| Keyword | Obstacle Avoidance Auv Bp Neural Network. |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/21295 |
| Collection | 海洋信息技术装备中心 |
| Corresponding Author | Dong LY(董凌艳) |
| Affiliation | 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 |
| Recommended Citation GB/T 7714 | Dong LY,Xu HL. Research on AUV Obstacle Avoidance Based on BP Neural Network[C]. New York:ACM,2017:26-29. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| Research on AUV Obst（418KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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