AUV intelligent touching-avoiding method

Abstract

The invention provides an AUV intelligent collision prevention device and a collision prevention method. The state information of the AUV collected by the sensor is passed to a dynamic control machine by a serial port. The dynamic control machine transmits the state information to a mission management machine by a network; a multi-beam front looking-sonar collects barrier information which is converted to a digital signal describing local environment; the mission management machine receives the digital signal of the local environment; an AUV barrier decision-making system determines the position of the barrier, establishes a local environment model which is passed on to a collision prevention planning system; the collision prevention system figures out course, speed, and depth of the AUV by collision prevention algorithm and passes on the three instructions to the dynamic controller by the network; the dynamic control machine controls resolving by movement, uses a control voltage to drive an executing agency, and adjusts course, speed and depth of the AUV according to the steering instructions, thus realizing AUV collision prevention. The invention has the advantages that collision prevention is realized in real time without needing prior knowledge and reliability and validity of the proposal of the invention are proved by a lake testing.

Description

(1) Technical field The invention relates to a collision avoidance device and a collision avoidance method for AUV intelligent collision avoidance by using multi-beam forward-looking sonar to detect obstacles, determine the position of the obstacles, and give collision avoidance instructions. (2) Background technology A basic requirement for ensuring the safety of AUVs navigating in complex and unknown underwater environments is that AUVs must have collision avoidance capabilities, which is also a manifestation of AUVs' autonomy and intelligence. During collision avoidance, sensors play a pivotal role as part of the underlying control. Currently widely used are ultrasonic sensors, infrared sensors, laser range finders, cameras, sonar and so on. Most AUVs sailing in large-scale seas use sonar as the main equipment for collision avoidance. The multi-beam forward-looking sonar we use is installed in the front of the AUV to obtain the location information of obstacles in real ...

AI Technical Summary

Problems solved by technology

The existence of this "false information" will lead to misjudgment of AUV, so that AUV cannot move in the right direction

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