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
收藏
页码：2446 / 2451
页数：6
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