一种基于声纳的auv避障系统

Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94) Pub Date : 1994-07-19 DOI:10.1109/AUV.1994.518611

G. Conte, S. Zanoli

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引用次数: 6

摘要

在本文中，我们描述了一个基于声呐的自主水下航行器避碰模块，作为更复杂的导航和制导系统的一部分而开发。它的主要特点是使用卡尔曼滤波器来评估检测到的障碍物的运动和碰撞的风险，并根据情况的特点在两个不同的抽象层次上工作的可能性。

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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A sonar based obstacle avoidance system for AUVs

In this paper we describe a sonar based, collision avoidance module for autonomous underwater vehicle, developed as part of a more complex navigation and guidance system. Its main features are the use of Kalman filters in evaluating both the motion of the detected obstacles and the risk of collision, and the possibility of working at two different levels of abstraction, according to the characteristics of the situation.

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Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94)

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