Experiments with Obstacle and Terrain Avoidance of Autonomous Underwater Vehicle

被引：0

作者：

Xu, Hongli ^{[1
]}

Gao, Lei ^{[1
]}

Liu, Jian ^{[1
]}

Wang, Yiqun ^{[1
]}

Zhao, Hongyu ^{[1
]}

机构：

[1] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China

来源：

OCEANS 2015 - MTS/IEEE WASHINGTON | 2015年

关键词：

autonomous underwater vehicle (AUV); obstacle avoidance; terrain following; multibeam imaging sonar;

D O I：

暂无

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Real-time obstacle and terrain avoidance is highly necessary for an autonomous underwater vehicle maneuvering near the rugged seafloor. This paper aims at an obstacle and terrain avoidance system for the deep-sea AUV built in SIA. This AUV will be used to survey deep-sea hydrothermal regions and need to follow rough terrain for obtaining stable acoustic or optical data. A new hybrid obstacle avoidance architecture will be proposed. The sonar image processing method and the real-time optimal obstacle avoidance method are summarized. Finnally the lake experiment results are given to demonstrate the presented methods' feasibility and validity.

引用

页数：4

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