远程自治水下机器人三维实时避障方法研究

海洋环境通常是不确定、非结构化和未知的 ,而远程AUV(LAUV)的避障声纳对环境感知有一定的局限 ,因此很难建立起精确、完整和统一的三维环境模型 .LAUV实时避障是一个实时性很强的动态过程 ,它不但与环境有关 ,而且还与LAUV的运动学约束、动力学特性和操纵性有关 .针对上述问题本文提出了一种基于复合控制的三维实时模糊避障方法

The ocean environment is always uncertain, unstructured and unknown. Furthermore, the obstacle avoidance sonars of long  distance AUV (LAUV) only have restricted abilities to get environmental information. These facts make it very difficult to build a precise, complete and general 3  dimension model for ocean environment. Real  time Obstacle Avoidance (ROA) of LAUV is a dynamic process with distinct real  time characteristics. It is related to ocean environment, as well as kinematics restriction, dynamics and maneuver. To solve these problems, a fuzzy obstacle avoidance algorithm based on complex control strategy is presented in this paper.