Safe Navigation Algorithm for Autonomous Underwater Vehicles

Q2 Computer Science

Gyroscopy and Navigation Pub Date : 2021-01-01 DOI:10.17285/0869-7035.0058

V. S. Bykova, A. Mashoshin, I. V. Pashkevich

引用次数: 3

Abstract

Abstract Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

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水下机器人的安全导航算法

摘要介绍了两种自主水下航行器的安全导航算法：一种是避开点障碍物的算法，包括所有移动的水下和水面物体，以及有限尺寸的底部物体；另一种是绕过底部高程、粗糙的下冰缘、垃圾块等扩展障碍物的方法。这些算法是为重型自主水下航行器的控制系统开发的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Gyroscopy and Navigation Computer Science-Computer Science (all)

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： Gyroscopy and Navigation is an international peer reviewed journal that covers the following subjects: inertial sensors, navigation and orientation systems; global satellite navigation systems; integrated INS/GNSS navigation systems; navigation in GNSS-degraded environments and indoor navigation; gravimetric systems and map-aided navigation; hydroacoustic navigation systems; navigation devices and sensors (logs, echo sounders, magnetic compasses); navigation and sonar data processing algorithms. The journal welcomes manuscripts from all countries in the English or Russian language.