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Sonar Imaging Simulation in Real-time Obstacle Avoidance algorithm for AUV Based on Creator/Vega
Gao L(高雷); Xu HL(徐红丽); Hu ZQ(胡志强)
Department海洋信息技术装备中心
Conference Name2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017)
Conference DateSeptember 15-18, 2017
Conference PlaceKitakyushu, Japan
Source Publication2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017)
PublisherACM
Publication PlaceNew York
2017
Pages60-63
Indexed ByEI ; CPCI(ISTP)
EI Accession number20175204569593
WOS IDWOS:000442640500013
Contribution Rank1
ISBN978-1-4503-5327-4
KeywordSonar Imaging Simulation Sonar Physical Model Creator/vega
Abstract

In this paper, a new approach to AUV autonomous obstacle avoidance is presented, which can be used to simulate the underwater obstacle environment, and simulates the process of AUV underwater autonomous obstacle avoidance behavior. The research is based on relevance technology and technological process of Creator modeling. The technology abroad requirement and huge application foreground in military and for civil use, because it can improve efficiency and reduce costs. The obstacle model is guided into Vega, after that, we can use the sonar simulate module to simulate imaging simulation of forwardlooking sonar system by set reasonable parameters, it can emulation really forward-looking sonar image and the obstacle information. Finally, simulation experiments show that this method is easy to computer implementation, and conform to the real obstacle avoidance based on sonar image process and display. It can be fully validated underwater autonomous obstacle avoidance algorithm.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21296
Collection海洋信息技术装备中心
Corresponding AuthorGao L(高雷)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation CAS, Shenyang, China
2.State Key Laboratory of Robotics Shenyang Institute of Automation CAS, Shenyang, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation CAS, Shenyang, China
Recommended Citation
GB/T 7714
Gao L,Xu HL,Hu ZQ. Sonar Imaging Simulation in Real-time Obstacle Avoidance algorithm for AUV Based on Creator/Vega[C]. New York:ACM,2017:60-63.
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