| Virtual simulation technology of 3D obstacle avoidance algorithm for AUV | |
Gao L(高雷)1 ; Gao, Wang2; Gu HT(谷海涛)1
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| 作者部门 | 海洋信息技术装备中心 |
| 会议名称 | 2nd International Conference on Computer Science and Application Engineering, CSAE 2018 |
| 会议日期 | October 22-24, 2018 |
| 会议地点 | Hohhot, China |
| 会议主办者 | Association for Science and Engineering (ASciE) |
| 会议录名称 | Proceedings of 2nd International Conference on Computer Science and Application Engineering, CSAE 2018 |
| 出版者 | ACM |
| 出版地 | New York |
| 2018 | |
| 页码 | 1-5 |
| 收录类别 | EI ; CPCI（ISTP） |
| EI收录号 | 20184706126476 |
| WOS记录号 | WOS:000455679900117 |
| 产权排序 | 1 |
| ISBN号 | 978-1-4503-6512-3 |
| 关键词 | Virtual simulation technology sonar imaging simulation sonar physical model 3D obstacle avoidance algorithm |
| 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. |
| 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/173321/23587 |
| 专题 | 海洋信息技术装备中心 |
| 通讯作者 | Gao L(高雷) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation CAS, China 2.Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory, 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]//Association for Science and Engineering (ASciE). New York:ACM,2018:1-5. |
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| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| Virtual simulation t（3600KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
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