Collision avoidance method for autonomous underwater robot in unknown complex seabed terrain environment
An underwater robot and collision avoidance technology, applied in the direction of instruments, two-dimensional position/channel control, control/adjustment system, etc., can solve the problems of lower detection operation efficiency and uncontrollable range, and achieve low false alarm rate and high Accuracy, the effect of improving detection efficiency
Active Publication Date: 2018-12-25
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology
In the past, traditional collision avoidance mostly used detours on the horizontal level to avoid obstacles. However, the use of this method in AUVs performing detection operations often resulted in uncontrollable scanning ranges, repeated coverage or blanking occurred from time to time, and after It also takes a certain amount of sailing time to return to the original path after circumnavigating and avoiding collisions on the horizontal plane, which greatly reduces the efficiency of detection operations
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[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0034] The hardware requirements of the present invention are a set of two-dimensional image sonar system, a height measuring device, and a set of actuators that can make the AUV navigate / hover, such as figure 1 shown.
[0035] The AUV collision avoidance method of the present invention includes the processing of sonar image data and the vertical plane priority collision avoidance strategy.
[0036] Sonar image data processing includes: image segmentation and image recognition.
[0037] Image segmentation refers to the technology and process of dividing an image into regions with different characteristics and extracting objects of interest.
[0038] The purpose of the K-means clustering algorithm is to reasonably divide n data objects (pixels of sonar image data) into k classes, so that the classes are gathered together and the classes are s...
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The invention relates to an autonomous underwater robot collision avoidance method in an unknown complex seabed terrain environment. The method comprises the following steps that an underwater robot processes collected sonar image data and acquires an obstacle object; and according to an area position of the obstacle object in a sonar image, determining an AUV collision avoidance behavior in realtime. In the invention, an environmental-perception false alarm rate is low. A foresight sonar image is acquired, an image processing mode is used to perceive an obstacle and accuracy of obstacle identification is increased. An AUV can safely execute a task without collision in the complex seabed terrain environment. The AUV is ensured not to generate near-bottom collision and a bottom loss problem is not generated either. Detection efficiency is increased. A track requirement of AUV detection work is guaranteed, and conditions of repeated covering or white spaces are less.
Description
technical field [0001] The present invention relates to the technical field of autonomous underwater robots (AUV for short), in particular to a method for avoiding collisions of AUVs in unknown and complex seabed topography environments, so as to realize the safety and non-collision of AUVs in unknown and complex seabed topography environments and ensure the completion of seabed detection tasks Useful ways. Background technique [0002] Nowadays, AUV has played a great role in deep-sea exploration. AUV has to perform long-term continuous detection tasks in deep-sea environments with extremely complex terrain, such as performing near-bottom observation missions near hydrothermal chimneys, and sailing over seamounts. Since AUV operates near the seabed, its micro-topography is very complex and unpredictable, and the operating environment is characterized by unstructured, complex and dynamic changes. The existing real-time collision avoidance methods for simple obstacle scenari...
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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 徐春晖李波邵刚赵宏宇刘健徐会希
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI