SIA OpenIR  > 水下机器人研究室
一种自治水下机器人垂直面避碰规划方法
Alternative TitleA Vertical Plane Obstacle Avoidance Planning Method for Autonomous Underwater Vehicle
徐红丽; 封锡盛; 刘健
Department水下机器人研究室
Source Publication微计算机信息
ISSN1008-0570
2008
Volume24Issue:23Pages:262-264
Indexed ByCSCD
CSCD IDCSCD:3411403
Contribution Rank1
Funding Organization国家863高科技发展计划资助项目(2006AA04Z262)
Keyword模糊控制 避碰控制 自治水下机器人
Abstract为提高自治水下机器人在垂直面跨越坡型、台阶型障碍的能力,提出了一种基于模糊控制的垂直面避碰规划方法。该方法以避碰声纳的输出作为输入,垂直面的深度调节量作为输出,直接建立了从障碍感知到避碰行为的映射。半物理仿真实验表明,该方法有效提高了某型自治水下机器人垂直面操纵性能,具有反应迅速、稳定性好、便于工程实现的优点。
Other AbstractThis paper presents a vertical plane obstacle avoidance planning method based on fuzzy control for the advancement in the autonomous underwater vehicle’s capability of maneuvering over the gradual slope or step types of obstacles. The inputs of this method are outputs of the single beam obstacle avoidance sonars, and the output of it is depth decrement in the vertical plane. So the mapping is directly built from obstacle sensing to obstacle avoidance behavior. The semi-physical simulation tests indicate the validity of this method used by a certain autonomous underwater vehicle, and the virtues of rapid reaction, good stability, easy realization.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3504
Collection水下机器人研究室
Corresponding Author徐红丽
Affiliation1.中国科学院研究生院
2.中国科学院沈阳自动化研究所机器人学重点实验室
Recommended Citation
GB/T 7714
徐红丽,封锡盛,刘健. 一种自治水下机器人垂直面避碰规划方法[J]. 微计算机信息,2008,24(23):262-264.
APA 徐红丽,封锡盛,&刘健.(2008).一种自治水下机器人垂直面避碰规划方法.微计算机信息,24(23),262-264.
MLA 徐红丽,et al."一种自治水下机器人垂直面避碰规划方法".微计算机信息 24.23(2008):262-264.
Files in This Item: Download All
File Name/Size DocType Version Access License
WJSJ200823112.pdf(286KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[徐红丽]'s Articles
[封锡盛]'s Articles
[刘健]'s Articles
Baidu academic
Similar articles in Baidu academic
[徐红丽]'s Articles
[封锡盛]'s Articles
[刘健]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[徐红丽]'s Articles
[封锡盛]'s Articles
[刘健]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: WJSJ200823112.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.