Forward-looking sonar-based underwater robot collision avoidance method

An underwater robot, forward-looking sonar technology, applied in two-dimensional position/channel control and other directions, can solve problems such as the existence of blind spots, and achieve the effect of improving survivability and reducing collision avoidance blind spots.

Active Publication Date: 2014-01-22
沈阳海人科技有限公司
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Problems solved by technology

This method is simple to apply but has blind spots, and can

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  • Forward-looking sonar-based underwater robot collision avoidance method
  • Forward-looking sonar-based underwater robot collision avoidance method
  • Forward-looking sonar-based underwater robot collision avoidance method

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[0031] Examples:

[0032] Such as figure 1 As shown, an underwater robot collision avoidance method based on forward-looking sonar includes an underwater robot. The underwater robot is equipped with a forward-looking sonar, a position and attitude sensor, a control device and an actuator; the control device is based on the forward-looking sound The data measured by the nano and posture sensors implement the collision avoidance control strategy, adjust the control amount of the actuator, and then adjust the posture of the underwater robot to avoid obstacles.

[0033] The collision avoidance control strategy is divided into reactive collision avoidance and deliberate collision avoidance. The control device adjusts the course and speed by combining these two collision avoidance methods. Reactive collision avoidance is a low-level intelligent behavior that does not require complicated theoretical derivation and is fast. Deliberate collision avoidance is a high-level intelligent behav...

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Abstract

The invention discloses a forward-looking sonar-based underwater robot collision avoidance method. The method is characterized in that: the method includes an underwater robot, on which a forward-looking sonar, a posture sensor, a controller and an actuating mechanism are arranged; according to the data measured by the forward-looking sonar and the posture sensor, the controller executes a collision avoidance control policy to regulate the controlling quantity of the actuating mechanism, and thereby the posture of the underwater robot is adjusted to avoid an obstacle. The method introduces the image data of the forward-looking sonar into the obstacle avoidance policy of the robot, so that the blind area of the robot in collision avoidance can be reduced. In terms of the collision avoidance policy, fast reaction type collision avoidance is integrated with slow deliberation type collision avoidance, so that the underwater robot can cope with not only suddenly appearing simple obstacles but also complex obstacles, and thereby the survival ability of the underwater robot is enhanced.

Description

technical field [0001] The invention relates to a collision avoidance method for underwater robots based on forward-looking sonar, and belongs to the technical field of intelligent control of underwater robots. Background technique [0002] Underwater robots have broad application prospects in marine scientific research, marine development, underwater engineering, and military affairs. Underwater robots work in a complex ocean environment, and there may be unknown obstacles such as reefs, dams, ships passing by on the navigation route, floating objects in the sea, underwater facilities, etc., which may cause the failure of underwater robots to perform tasks Even threaten the life of underwater robot. [0003] There are two types of collision avoidance sonar: distance sonar and sound-image sonar. At present, distance sonar is used. The distance sonar can only return the distance information of obstacles. Usually, multiple sonars need to be equipped in front, left, right, do...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 吴宝举
Owner 沈阳海人科技有限公司
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