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Obstacle avoiding method for underwater navigation device

An underwater vehicle and obstacle avoidance technology, which is applied in three-dimensional position/channel control and other directions, can solve problems such as undiscovered, and achieve the effect of easy control and simple algorithm

Inactive Publication Date: 2012-08-01
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0003] In recent years, some research results have been obtained in the field of track planning and track control of underwater vehicles, but for the research on the decision-making of course adjustment of long-range underwater vehicles, domestic and foreign studies have not found

Method used

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  • Obstacle avoiding method for underwater navigation device
  • Obstacle avoiding method for underwater navigation device
  • Obstacle avoiding method for underwater navigation device

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Embodiment 1

[0048] Step 1: According to the obstacles detected by the underwater vehicle, the obstacles located on both sides of the central axis of the underwater vehicle are the first category; d=60 is the distance between the obstacle and the underwater vehicle;

[0049] Step 2: Calculate the membership degree of each linguistic variable corresponding to the distance between the underwater vehicle and the obstacle,

[0050] mu 近 (d)=0; μ 较远 (d)=1; μ 远 (d)=0

[0051] {"near", "far", "far"} is the language variable of the distance;

[0052] Step 3: Calculate the degree of membership of each linguistic variable corresponding to the angle between the central axis of the underwater vehicle and the obstacle; Φ=20 is the angle between the obstacle and the central axis of the underwater vehicle;

[0053] mu 小 (Φ)=0; μ 较小 (Φ)=1; μ 较大 (Φ)=1; μ 大 (Φ)=0

[0054] {"small", "smaller", "larger", "big"} is the linguistic variable of the angle;

[0055] Step 4: Define the language variable of...

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Abstract

The invention provides an obstacle avoiding method for an underwater navigation device. The obstacle avoiding method for an underwater navigation device makes the determination by utilizing the information of the distance to an obstacle and the angle between the underwater navigation device and the obstacle to obtain the expected navigation angle so as to adjust and plan the navigation track of the underwater navigation device, thus the requirements of enabling the remote underwater navigation device safely to reach an navigation point can be met. The obstacle avoiding method can be used as the navigating direction adjusting strategy of the underwater navigation device to realize the aim of ensuring the safety of the underwater navigation device, and has the characteristics of simpleness of the algorithm, high efficiency, reliability and convenience in controlling. The obstacle avoiding method also can be applied in the partial route planning and the obstacle avoidance of underwater robots and automatic guiding trolleys.

Description

technical field [0001] The invention relates to a track planning method for a long-range underwater vehicle, which belongs to the field of control and path planning of the underwater vehicle, and in particular to an obstacle avoidance method for the underwater vehicle. Background technique [0002] When a long-range underwater vehicle navigates autonomously, it needs to maneuver its course according to the detected obstacles to ensure the safety of the long-range underwater vehicle itself and to reach the target point safely. trace planning method. [0003] In recent years, some research results have been obtained in the field of track planning and track control of underwater vehicles, but the research on the decision-making of course adjustment of long-range underwater vehicles has not been found in domestic and foreign research. Contents of the invention [0004] In order to avoid the deficiencies of the prior art, the present invention proposes an obstacle avoidance me...

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Application Information

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IPC IPC(8): G05D1/10
Inventor 崔荣鑫严卫生宋保维刘明雍张福斌高剑彭星光张立川
Owner NORTHWESTERN POLYTECHNICAL UNIV
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