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Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

机译：未知非结构化环境中无人驾驶水下航行器的避障

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摘要

To avoid obstacle in the unknown environment for unmanned undersea vehicle (UUV), an obstacle avoiding system based on improved vector field histogram (VFH) is designed. Forward looking sonar is used to detect the environment, and the divisional sonar modal is applied to deal with the measure uncertainty. To adapt to the VFH, rolling occupancy grids are used for the map building, and high accuracy details of local environment are obtained. The threshold is adaptively adjusted by the statistic of obstacles to solve the problem that VFH is sensitive to threshold. To improve the environment adaptability, the hybrid-behaviors strategy is proposed, which selects the optimal avoidance command according to the motion status and environment character. The simulation shows that UUV could avoid the obstacles fast and escape from the U shape obstacles.
机译：为了避免未知环境下无人驾驶水下航行器（UUV）的障碍，设计了一种基于改进矢量场直方图（VFH）的避障系统。前视声纳用于检测环境，而分区声纳模态则用于处理测量不确定度。为了适应VFH，将滚动占用栅格用于地图构建，并获得本地环境的高精度详细信息。通过障碍物的统计来自适应地调整阈值，以解决VFH对阈值敏感的问题。为了提高环境适应性，提出了一种混合行为策略，该策略根据运动状态和环境特征选择最佳的避让指令。仿真表明，UUV可以快速避开障碍物并从U形障碍物逃脱。

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  • 来源
    《Mathematical Problems in Engineering》 |2013年第14期|841376.1-841376.12|共12页
  • 作者

    Zheping Yan; Yufei Zhao; Shuping Hou; Honghan Zhang; Yalin Zheng;

  • 作者单位

    College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China;

    College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China;

    College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, Heilongjiang 150001, China;

    College of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, China;

    Department of Eye and Vision Science, University of Liverpool, Liverpool, UK;

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