Simulation program complex for studying motion control methods for autonomous underwater vehicles

被引：0
|
作者：
V. A. Bobkov
Yu. S. Borisov
A. V. Inzartsev
S. V. Mel’man
机构：
[1] Russian Academy of Sciences,Institute for Automation and Control Processes, Far East Division
来源：
Programming and Computer Software | 2008年 / 34卷
关键词：
Underwater Vehicle; Autonomous Underwater Vehicle; Trajectory Planning; Optical Range; Environment Point;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Development of a graphical simulation complex for studying motion control methods for autonomous underwater vehicles is discussed. Its structure and functioning scheme are presented. An approach to solving navigation problem and to 3D reconstruction of underwater environment from a given sequence of digital images is described. It is based on the use of an extended Kalman filter and original algorithm of dense 3D recovery of the environment points. Results of computational experiments and estimates of the efficiency of the approach are presented.
引用
收藏
页码：257 / 266
页数：9
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