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Virtual simulation technology of 3D obstacle avoidance algorithm for AUV
Gao L(高雷)1; Gao, Wang2; Gu HT(谷海涛)1
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
EI收录号20184706126476
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
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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