The forward-looking image sonar is a necessary vision device for Autonomous Underwater Vehicles (AUV). Based on the acoustic image received from forward-looking image sonar, AUV local path is planned. When the environ...The forward-looking image sonar is a necessary vision device for Autonomous Underwater Vehicles (AUV). Based on the acoustic image received from forward-looking image sonar, AUV local path is planned. When the environment model is made to adapt to local path planning, an iterative algorithm of binary conversion is used for image segmentation. Raw data of the acoustic image, which were received from serial port, are processed. By the use of “Mathematic Morphology" to filter noise, a mathematic model of environment for local path planning is established after coordinate transformation. The optimal path is searched by the distant transmission (Dt) algorithm. Simulation is conducted for the analysis of the algorithm. Experiment on the sea proves it reliable.展开更多
文摘The forward-looking image sonar is a necessary vision device for Autonomous Underwater Vehicles (AUV). Based on the acoustic image received from forward-looking image sonar, AUV local path is planned. When the environment model is made to adapt to local path planning, an iterative algorithm of binary conversion is used for image segmentation. Raw data of the acoustic image, which were received from serial port, are processed. By the use of “Mathematic Morphology" to filter noise, a mathematic model of environment for local path planning is established after coordinate transformation. The optimal path is searched by the distant transmission (Dt) algorithm. Simulation is conducted for the analysis of the algorithm. Experiment on the sea proves it reliable.
