摘要
由于无人水下航行器(UUV)避障研究的实物海洋试验成本高且风险较大,故针对在试验室进行UUV自主避障规划的需求,利用双目视觉展开了UUV避障半实物仿真试验系统的设计研究,包括多自由度运动台架模拟UUV的运动,双目摄像机代替前视声纳作为避障传感器。阐述了实物双目视觉子系统的关键技术和UUV模型子系统的软件实现方法,以及系统的体系结构、数据交换方法,并进行了基于规则的避障仿真联调试验,结果表明,该系统结构简单,试验实施便利,可作为演示、验证和评估避障路径规划正确性和有效性的实用手段。
The sea trials for the obstacle avoidance research of an unmanned underwater vehicle（UUV） are expensive and high-risk.To facilitate the research of automatic obstacle avoidance of an UUV in laboratory,a hardware-in-the-loop simulation system of UUV obstacle avoidance has been developed based on binocular vision,where the multi-degree of freedom test platform is used to simulate the motion of the UUV,and the double-stereo vision system is used to simulate forward looking sonar.In this paper,the structure and data stream of the system are discussed.The key technologies for vision subsystem and the software scheme for UUV model subsystem are also described.Joint simula-tion tests were conducted by adopting rule-based obstacle avoidance approach.Experimental results show that the sys-tem has the advantages of simple structure and convenient application,and it can be used in demonstration,validation,and evaluation of obstacle avoidance path plan.
出处
《鱼雷技术》
2012年第2期143-148,共6页
Torpedo Technology
基金
新世纪优秀人才支持计划(NCET-10-0053)
关键词
无人水下航行器(UUV)
避障
半实物仿真
双目视觉
unmanned underwater vehicle（UUV）
obstacle avoidance
hardware-in-the-loop simulation
binocular vision
