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在未知复杂海底地形环境中的自主水下机器人避碰方法
Alternative TitleAutomatic underwater robot in unknown complex submarine topography environment collision prevention method
徐春晖; 李波; 邵刚; 赵宏宇; 刘健; 徐会希
Department水下机器人研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract

本发明涉及在未知复杂海底地形环境中的自主水下机器人避碰方法,包括以下步骤:水下机器人对采集的声纳图像数据进行处理,得到障碍目标;根据障碍目标在声纳图像中所处的区域位置,实时确定AUV避碰行为。本发明环境感知虚警率低。获取前视声呐图像,采用图像处理方式感知障碍,提高了障碍识别的准确性。能够满足AUV在复杂海底地形环境中安全无碰的执行任务。保证AUV不发生近底碰撞,也不会出现底部丢失的问题。提高探测效率。保证AUV探测作业的航迹要求,重复覆盖或留白的情况少。

Other AbstractThe method involves processing collected sonar image data. An obstacle target underwater robot area position of a sonar image is determined according to an obstacle target. An AUV collision avoidance behavior is determined at a real-time. The sonar image data is obtained to obtain an initial target according to clustering algorithm. The obstacle target underwater robot area position of a sonar image is expanded. An updated target function is realized. A collision avoidance action process is performed when height of an underwater robot is less than a threshold value.
PCT Attributes
Application Date2016-10-25
2018-04-03
Date Available2018-12-25
Application NumberCN201610936341.9
Open (Notice) NumberCN107870621A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/22014
Collection水下机器人研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
徐春晖,李波,邵刚,等. 在未知复杂海底地形环境中的自主水下机器人避碰方法[P]. 2018-04-03.
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