基于局部模型的水下机器人避碰方法研究

AUV Obstacle Avoidance Method Based on Local Environment Model

提出了基于局部模型的水下机器人的避碰方法．文中首先分析了水下机器人的避碰声纳的工作机理及存在的问题；然后介绍了基于栅格的局部模型的建立方法，根据局部模型确定出机器人周围障碍物的分布情况；最后根据规则进行避碰规划．文中给出了详细的仿真结果．

The obstacle avoidance method based on the local environment model for AUV(Autonomous Underwater Vehicle) is given.First,the working principle and existing problem of avoidance collision sonar are discussed and then the method for building the local model based on grids is presented so as to identify the distribution of obstacles around AUV according to the local model.Finally,the obstacle avoidance plan is carried out on the basis of rules and detailed simulation results are given.