As an important tool for marine exploration, the autonomous underwater vehicle(AUV) must home in and dock at a docking station(DS) to be recharged, repaired, or to exchange information at set intervals. However, the c...As an important tool for marine exploration, the autonomous underwater vehicle(AUV) must home in and dock at a docking station(DS) to be recharged, repaired, or to exchange information at set intervals. However, the complex and hostile underwater environment makes this process challenging. This study proposes a real-time method based on polarized optical guidance for determining the position and attitude of the AUV relative to its DS. Four polarized artificial underwater landmarks are positioned at the DS, which are recognized by the AUV vision system. Compared with light intensity, the polarization of a light beam is known to be better maintained at greater propagation distances, especially in underwater environments. The proposed method, which is inspired by the ability of marine animals to communicate, calculates the pose parameters in less than 10 ms without any other navigational information. The simulation results reveal that the angle errors are small and the position errors are no more than 0.116 m within 100 m in the coastal ocean. The results of underwater experiments further demonstrate the feasibility of the proposed method, which extends the operating distance of the AUV beyond what is currently possible while maintaining the precision of traditional optical guidance.展开更多
In order to increase the aircraft＇s survival in the flight mission, it is necessary to carry out flight mission planning, which includes TF/TA2（ terrain following/terrain avoidance/threat avoidance）. An approach to...In order to increase the aircraft＇s survival in the flight mission, it is necessary to carry out flight mission planning, which includes TF/TA2（ terrain following/terrain avoidance/threat avoidance）. An approach to 3D-route planning based on A ＊ heuristic search algorithm was selected to determine the routes of fiber optic guidance missile＇ s cruise segment. The cost function was discussed, which was mainly related to the physical obstacle, threat exposure, and aircraft performance characteristics. The digital map techniques were presented, which included setting ＂no-go＂ area according to fiber＇s safety requirement. The optimal or the sub-optimal route was obtained, while the cost function constraints were satisfied and the stored terrain obtained from a real terrain was digitized. The algorithm is validated through simulation and can fulfill the route planning task which focuses on the cruise segment of fiber optic guidance missile.展开更多
基金supported by the National Natural Science Foundation of China (NSFC)(Nos. 51675076,51505062)the Science Fund for Creative Research Groups of NSFC (No. 51621064)the Pre-Research Foundation of China (No. 61405180102)。
文摘As an important tool for marine exploration, the autonomous underwater vehicle(AUV) must home in and dock at a docking station(DS) to be recharged, repaired, or to exchange information at set intervals. However, the complex and hostile underwater environment makes this process challenging. This study proposes a real-time method based on polarized optical guidance for determining the position and attitude of the AUV relative to its DS. Four polarized artificial underwater landmarks are positioned at the DS, which are recognized by the AUV vision system. Compared with light intensity, the polarization of a light beam is known to be better maintained at greater propagation distances, especially in underwater environments. The proposed method, which is inspired by the ability of marine animals to communicate, calculates the pose parameters in less than 10 ms without any other navigational information. The simulation results reveal that the angle errors are small and the position errors are no more than 0.116 m within 100 m in the coastal ocean. The results of underwater experiments further demonstrate the feasibility of the proposed method, which extends the operating distance of the AUV beyond what is currently possible while maintaining the precision of traditional optical guidance.
基金Sponsored by the Ministerial Level Advanced Research Foundation(51401050105BQ01)
文摘In order to increase the aircraft＇s survival in the flight mission, it is necessary to carry out flight mission planning, which includes TF/TA2（ terrain following/terrain avoidance/threat avoidance）. An approach to 3D-route planning based on A ＊ heuristic search algorithm was selected to determine the routes of fiber optic guidance missile＇ s cruise segment. The cost function was discussed, which was mainly related to the physical obstacle, threat exposure, and aircraft performance characteristics. The digital map techniques were presented, which included setting ＂no-go＂ area according to fiber＇s safety requirement. The optimal or the sub-optimal route was obtained, while the cost function constraints were satisfied and the stored terrain obtained from a real terrain was digitized. The algorithm is validated through simulation and can fulfill the route planning task which focuses on the cruise segment of fiber optic guidance missile.
