A Fast Fusion Obstacle Avoidance Method for Underwater Robots

Abstract

The invention provides a fast fusion obstacle-avoidance method for an autonomous underwater vehicle (AUV). A positioning error region of an AUV is determined by a ranging standard difference and a variance of a ranging sonar; and a static safety distance of the AUV in a sonar mounting direction is obtained according to the positioning error region. On the basis of real-time velocity components indifferent directions and the static safety distance, safety alert distance thresholds of the corresponding directions are obtained. An obstacle distance data measured by the ranging sonar and the safety alert distance in the direction are determined; when the obstacle distance is greater than the safety alert distance, the sonar in the direction carries out polling work at a basic working interval; and when the obstacle distance is less than or equal to the safety alert distance, the sonar in the direction carries out polling work according to an output of a dynamic sonar working interval equation. According to the invention, the AUV can quickly and accurately obtain obstacle distance information in a narrow channel; and on the basis of fusion of multi-sensor data, rapid fusion and obstacle avoidance are realized, so that the support is provided for security work of the AUV.

Description

technical field [0001] The invention relates to autonomous obstacle avoidance technology for an intelligent underwater robot, in particular to a rapid fusion obstacle avoidance method suitable for an underwater robot, and belongs to the technical field of underwater robots. Background technique [0002] The intelligent underwater vehicle (AUV) is an important tool for us to care about the ocean, understand the ocean, and manage the ocean, and the autonomous obstacle avoidance ability is a necessary guarantee for the safe and smooth operation of the intelligent underwater robot. As a basic obstacle avoidance sensor, sonar has been widely used in underwater robots. Acquiring stable and accurate distance data efficiently is an important performance index of ranging sonar. The AUV sonar layout model established by the present invention is to arrange at least one sonar in each of the four directions of the bow, stern, port, and starboard. The traditional working mode of the rangi...

AI Technical Summary

Problems solved by technology

Experiments have shown that the stability and accuracy of ranging sonar data will decrease rapidly with the decrease of channel width after the channel width is lower than a certain threshold, and even the correct distance data cannot be obtained

[0003] Although the ranging sonar using the polling mode can avoid the interference between sonars, the efficiency of obtaining distance information will be greatly reduced, which will reduce the success rate of AUV obstacle avoidance. Obstacle avoidance efficiency of distance sonar

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