摘要
水上机器人(Unmanned Surface Vehicle,USV)用于近海环境实时监测、资源探测、海洋灾害预警和防治等多种用途。USV必须在三维环境中进行避障处理,所以本文在USV上布置两层声纳来获取障碍物的三维信息,并提出一种改进的VFH算法,使其在三维空间内做到实时避障。仿真结果表明,该算法具有良好可行性和有效性。
Unmanned Surface Vehicle （USV） is used to monitor the real-time environment information near the coast, detect resources and early warn and protect the ocean disaster. USV must avoid obstacle in three dimension environment, this paper put sonar on different layers in the USV to get the three dimension information of the obstacle. And this paper presented a improved VFH algorithm to implement the real-time obstacle avoidance in three dimension environment. The simulation results demonstrate the feasibility and the validity of the algorithm proposed.
出处
《微计算机信息》
2009年第8期235-237,共3页
Control & Automation
基金
基金申请人:殷波
项目名称:基于模糊强化学习和同时定位与地图创建的AUV自主导航方法研究
基金颁发部门:山东省科学技术厅(2007BS01002)
