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Reaearch on the ocean environment implementation methods for digital AUV platform
Liu KZ(刘开周); Liu J(刘健); Feng XS(封锡盛)
Department水下机器人研究室
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
Conference DateAugust 22-26, 2004
Conference PlaceShenyang, China
Author of SourceIEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone
Source PublicationIEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNEW YORK
2004
Pages401-406
Indexed ByEI ; CPCI(ISTP)
EI Accession number2005499531952
WOS IDWOS:000234343000071
Contribution Rank1
ISBN0-7803-8641-8
Keyworda Auv Ded Digital Auv Platform Delaunay Trigonometry Electronic Chart
AbstractFor the purpose of building a robust AUV controller, which could be used to handle complex ocean environment, a method of obtaining benthos terrain based on Electronic Chart is presented. Firstly, some terrain conversion algorithms for development of the benthos terrain, such as nearest neighbor interpolation, linear interpolation, cubic interpolation and v4-interpolation are compared; Secondly, it new terrain conversion algorithm for development of the benthos terrain DTTCGSFD (Delaunay Triangle-based Terrain Considering of Grid, Sparse, Feature Data) is introduced. This method consider the data not only distance constant grid data, sparse data, but also feature data with the terrain data, such as fathom line etc; In the end, two kinds of current implement methods are presented; The result, which is of importance in the AUV research of terrain matching navigation, path planning and obstacle avoidance strategy, has been applied to the research work of our digital AUV platform.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7832
Collection水下机器人研究室
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences
2.Graduate School, Chinese Academy of Sciences
3.Research Center for Underwater Vehicle, CAS
4.Research Center for Underwater Vehicle, CAS, China
Recommended Citation
GB/T 7714
Liu KZ,Liu J,Feng XS. Reaearch on the ocean environment implementation methods for digital AUV platform[C]//IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone. NEW YORK:IEEE,2004:401-406.
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