An Obstacle Avoidance Algorithm Designed for USV Based on Single Beam Sonar and Fuzzy Control

被引：0

作者：

Chen, Jie ^{[1
]}

Pan, Wei ^{[1
]}

Guo, Yinbin ^{[1
]}

Huang, Chaoxi ^{[1
]}

Wu, Haitao ^{[1
]}

机构：

[1] Xiamen Univ, Dept Cognit Sci, Xiamen 361005, Peoples R China

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2013年

关键词：

D O I：

暂无

中图分类号：

Q [生物科学];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

This paper presents an innovative obstacle avoidance method based on fuzzy control technology and Potential field method for a miniaturized and low cost USV (Unmanned Surface Vehicle), which is designed for offshore water quality testing. The micron DST sonar, a miniaturized mechanically side-scan sonar, is adopted as environmental information collection sensor, for its flexible control mode and low cost. The use of MCU (Micro Controller Unit) and android System ensure a good real-time control. We conducted a series of experiments both in swimming pool and in lake, with stationary and motive obstacles. The result shows that the method presented is suitable for the USV.

引用

页码：2446 / 2451

页数：6

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