自主式水下航行器试验平台的设计

Design of test-bed for autonomous underwater vehicle

为水下探测提供试验平台,设计了一台自主式水下航行器(AUV)。该航行器可被应用于海洋资源调查、港口安防、水产养殖、地貌观测等诸多方面。它可利用自身搭载的声呐、AHRS等传感器,实现水下自主航行、避障;并通过导航算法,实时地规划最优路径,完成水下地貌观测、资源探测。同时它也具备在水下未知环境,构建地图能力。

In order to supply a test-bed for the underwater detection,an autonomous underwater vehicle（AUV）was devel-oped,which can be applied to the aspects of ocean resource investigation,port security,aquaculture,geomorphology observa-tion,etc. With sensors like AHRS and SONAR,It can move and avoid obstacle autonomously,and plan optimal path in real time to realize the underwater geomorphology observation,resource exploration by means of navigation algorithm. It also has the ability to draw maps in unknown underwater environment.