多波束前视声呐在潜器避障中的应用研究

介绍了多波束前视声呐特性及其PC104处理机的功能;描述了避障系统的数据采集和传输方法;提出了用基于栅格图标的方法来完整描述声呐探测信息,从而构建出水下局部环境模型;采用带有增长率算子的运动映射直方图算法作为声呐传感器数据后处理算法,合理地表达了声呐数据的不确定性,克服了探测数据中混带的噪声;设计了基于声呐传感器的反应式避障算法,确保潜器能够及时、有效、安全地避开障碍物;最后通过湖上试验,验证了所作研究的正确性及可行性.

Research on Application of Multibeam Forward Looking Sonar in Obstacle Avoidance for Underwater Vehicle

The properties of multibeam forward looking sonar and functions of PC104 processor are introduced.The methods for data acquisiton and information transmission of the obstacle avoidance system are described.To describe sonar data,the grid method is proposed,and the underwater environment is built.The histogrammic in motion mapping algorithm with growth rate operator is adopted to process the sonar data and to express the uncertainty of sonar data,so the noise of the signals is overcome.The reactive obstacle avoidance algorithm based on sonar data is designed to make sure the vehicle can avoide obstacle immediately,effectively and safely.Finally,the lake test is carried out to verify the correctness and practicablility of the research work.