| Virtual simulation technology of 3D obstacle avoidance algorithm for AUV | |
Gao L(高雷)1 ; Gao, Wang2; Gu HT(谷海涛)1
| |
| Department | 海洋信息技术装备中心 |
| Conference Name | 2nd International Conference on Computer Science and Application Engineering, CSAE 2018 |
| Conference Date | October 22-24, 2018 |
| Conference Place | Hohhot, China |
| Author of Source | Association for Science and Engineering (ASciE) |
| Source Publication | Proceedings of 2nd International Conference on Computer Science and Application Engineering, CSAE 2018 |
| Publisher | ACM |
| Publication Place | New York |
| 2018 | |
| Pages | 1-5 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20184706126476 |
| WOS ID | WOS:000455679900117 |
| Contribution Rank | 1 |
| ISBN | 978-1-4503-6512-3 |
| Keyword | Virtual simulation technology sonar imaging simulation sonar physical model 3D obstacle avoidance algorithm |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/23587 |
| Collection | 海洋信息技术装备中心 |
| Corresponding Author | Gao L(高雷) |
| Affiliation | 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 |
| Recommended Citation 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. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| Virtual simulation t（3600KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment