SIA OpenIR  > 水下机器人研究室
远程自治水下机器人三维实时避障方法研究
Alternative TitleA 3-DIMENSION REAL-TIME OBSTACLE AVOIDANCE METHOD FOR LONG-DISTANCE AUV
张禹; 邢志伟; 黄俊峰; 封锡盛
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2003
Volume25Issue:6Pages:481-485
Indexed ByEI ; CSCD
EI Accession number2004017806101
CSCD IDCSCD:1213582
Contribution Rank1
Keyword远程自治水下机器人 三维实时避障 路径规划 运动控制
Abstract海洋环境通常是不确定、非结构化和未知的 ,而远程AUV(LAUV)的避障声纳对环境感知有一定的局限 ,因此很难建立起精确、完整和统一的三维环境模型 .LAUV实时避障是一个实时性很强的动态过程 ,它不但与环境有关 ,而且还与LAUV的运动学约束、动力学特性和操纵性有关 .针对上述问题本文提出了一种基于复合控制的三维实时模糊避障方法
Other AbstractThe ocean environment is always uncertain, unstructured and unknown. Furthermore, the obstacle avoidance sonars of long  distance AUV (LAUV) only have restricted abilities to get environmental information. These facts make it very difficult to build a precise, complete and general 3  dimension model for ocean environment. Real  time Obstacle Avoidance (ROA) of LAUV is a dynamic process with distinct real  time characteristics. It is related to ocean environment, as well as kinematics restriction, dynamics and maneuver. To solve these problems, a fuzzy obstacle avoidance algorithm based on complex control strategy is presented in this paper.
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3692
Collection水下机器人研究室
Corresponding Author张禹
Affiliation1.中国科学院沈阳自动化研究所水下机器人研究室
2.沈阳工业大学
Recommended Citation
GB/T 7714
张禹,邢志伟,黄俊峰,等. 远程自治水下机器人三维实时避障方法研究[J]. 机器人,2003,25(6):481-485.
APA 张禹,邢志伟,黄俊峰,&封锡盛.(2003).远程自治水下机器人三维实时避障方法研究.机器人,25(6),481-485.
MLA 张禹,et al."远程自治水下机器人三维实时避障方法研究".机器人 25.6(2003):481-485.
Files in This Item: Download All
File Name/Size DocType Version Access License
JQRR200306000.pdf(94KB) 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
[张禹]'s Articles
[邢志伟]'s Articles
[黄俊峰]'s Articles
Baidu academic
Similar articles in Baidu academic
[张禹]'s Articles
[邢志伟]'s Articles
[黄俊峰]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[张禹]'s Articles
[邢志伟]'s Articles
[黄俊峰]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: JQRR200306000.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.