虚拟环境下自主水下航行器的避障研究

马文杰; 严卫生; 桂志辉

doi:10.11993/j.issn.1673-1948.2008.02.006

虚拟环境下自主水下航行器的避障研究

doi: 10.11993/j.issn.1673-1948.2008.02.006

西北工业大学航海学院,陕西西安 710072

基金项目: 新世纪优秀人才计划资助（NCET-04)

详细信息

作者简介:
马文杰（1979-) ，男，硕士研究生，研究领域为虚拟现实技术、视景仿真.

中图分类号: TP391.9
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出版历程
- 收稿日期: 2007-07-08
- 修回日期: 2007-09-15
- 刊出日期: 2008-04-30

Obstacle Avoidance for AUV in Virtual Environment

College of Marine Engineering, Northwestern Polytechnical University, Xi′an 710072,China

摘要

摘要: 为了在虚拟环境下模拟自主水下航行器的水平面避障过程，基于软件平台MultiGen Creator和Vega，在HP工作站上开发了自主水下航行器避障视景仿真系统。提出了一种前视声纳的仿真方法，利用Vega提供的碰撞矢量函数和自定义的Volume碰撞方式，模拟前视声纳的功能，并根据声纳所测得的障碍物相对于自主水下航行器的位置关系设计一个模糊推理系统来求解其避障角度，实现了虚拟环境下自主水下航行器的水平面避障。仿真结果表明，该视景仿真能够使仿真系统更加逼真和接近于实际情况，并且满足系统仿真的实时性要求。
- 自主水下航行器 /
- 前视声纳 /
- 避障 /
- 模糊推理系统 /
- 虚拟环境
Abstract: In order to simulate the process of obstacle avoidance for autonomous underwater vehicle(AUV) on horizontal plane in virtual environment, an visual simulation system of obstacle avoidance for AUV is developed on HP workstation based on the software platforms-MultiGen Creator and Vega. A simulation method of forward looking sonar(FLS) is proposed. Utilizing the collision vector function provided by Vega and the self-defined volume collision method, the function of FLS is simulated. A fuzzy inference system is designed to derive the obstacle avoidance angle based on the position relationship of AUV and obstacle. The obstacle avoidance for AUV on the horizontal plane in virtual environment is implemented. Simulation results show that this visual simulation can realistically make the simulation system approach practical circumstances, and satisfy the real time requirement of system simulation.
- autonomous underwater vehicle(AUV) /
- forward looking sonar(FLS) /
- obstacle avoidance /
- fuzzy inference system /
- virtual environment

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参考文献(9)

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