摘要
近年来,人们开始不断地开发海洋资源和空间,如在海底铺设大量的天然气管道以便于运输,因此,利用自主式水下航行器去探测海底天然气管道是否泄漏的技术,就具有重大的战略意义。基于自主式水下航行器搭载的多波束前视声呐采集的数据,进行声呐图像中的障碍物检测,提出了一种基于类间方差及小区域抑制的障碍物检测算法。然后,利用声呐图像的障碍物检测结果,设计了基于障碍物轮廓的避障算法,来估计合理的避障角度,传送给水下航行器的主控来控制航行器避开障碍物。
Based on the data collected by the multi-beam forward-looking sonar mounted on an autonomous underwater vehicle(AUV),this paper performs obstacle detection in sonar images,and proposes an obstacle detection method based on inter-class variance and suppression of small areas.Then,using the obstacle detection results of the sonar image,an obstacle avoidance method based on the contour of the obstacle is designed to estimate a reasonable obstacle avoidance angle,which is transmitted to the master of the underwater vehicle to control the vehicle to avoid the obstacle.
出处
《工业控制计算机》
2020年第3期6-8,共3页
Industrial Control Computer
基金
国家科技重大专项(2016ZX05057005)。
关键词
自主式水下航行器
障碍物检测
阈值分割
避障算法
autonomous underwater vehicle
obstacle detection
threshold segmentation
obstacle avoidance
