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基于事件反馈监控的AUV模糊避障方法研究
Alternative TitleResearch on the AUV fuzzy obstacle avoidance method based on event feedback supervision
徐红丽; 封锡盛
Department先进制造技术研究室
Source Publication仪器仪表学报
ISSN0254-3087
2007
Volume28Issue:SPages:698-702
Contribution Rank1
Keyword事件反馈监控 模糊控制 水下机器人避障
Abstract如何实现三维空间连续避障是现有水下机器人避障方法研究面临的一大问题。本文为此将离散事件动态系统理论引入水下机器人避障规划,分别基于模糊控制思想建立了水平面和垂直面避障控制器、基于事件反馈监控思想建立了避障规划模块。仿真实验证明,基于事件反馈监控的模糊避障方法不论是面对单个不同形状障碍,还是面对多个连续障碍,均能有效地引导水下机器人绕过障碍、奔向目标。
Other AbstractHow to design a continuous Obstacle Avoidance(OA) system in three-dimensional space is one of important questions that are faced with AUV(Autonomous Underwater Vehicle) OA researchers.To solve the question,this paper introduces discrete event dynamic system theory to the AUV OA planning,and re- spectively presents a horizontal plane OA controller and a vertical plane OA controller based on fuzzy control and the three-dimensional OA planner based on Event Feedback Supervision (EFS).The simulation tests demonstrate that the fuzzy OA system based on EFS is available for AUV to avoiding not only single differ- ent shape obstacles but also many obstacles cluster.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3916
Collection工业信息学研究室_先进制造技术研究室
Corresponding Author徐红丽
Affiliation1.中国科学院研究生院
2.中国科学院沈阳自动化研究所机器人学重点实验室
Recommended Citation
GB/T 7714
徐红丽,封锡盛. 基于事件反馈监控的AUV模糊避障方法研究[J]. 仪器仪表学报,2007,28(S):698-702.
APA 徐红丽,&封锡盛.(2007).基于事件反馈监控的AUV模糊避障方法研究.仪器仪表学报,28(S),698-702.
MLA 徐红丽,et al."基于事件反馈监控的AUV模糊避障方法研究".仪器仪表学报 28.S(2007):698-702.
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