Avoidance of underwater cliffs for autonomous underwater vehicles
Avoidance of underwater cliffs for autonomous underwater vehicles
复制标题
自主水下航行器避免水下悬崖
DOI：
10.1109/irds.2002.1041487
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
B. Jouvencel
中科院分区：
文献类型：
--
作者：
V. Creuze;B. Jouvencel
本文介绍了一种基于欠驱动的自主水下航行器在未知环境中避开水下悬崖的方法。位于车辆前部的三个电声换能器提供水深数据。在本文中，我们详细介绍了适用于不规则海床的方法，即水下悬崖等深度变化较大的海底。得到的轨迹符合飞行器的动力学约束。说明了如何选择换能器的定向角度，以优化海底跟踪的质量。我们的方法在本实验室自主水下航行器样机“大班”号的水动力模拟器上得到了验证。
This paper introduces a method aiming to allow underactuated autonomous underwater vehicles navigating in an unknown environment to avoid underwater cliffs. Three electro-acoustic transducers situated in the front part of the vehicle provide bathymetric data. In this article we detail the method adapted to an irregular seabed, i.e., with substantial changes in depth like underwater cliffs. The obtained trajectories respect the dynamic constraints of the vehicle. We also explain how to choose the orientation angle of transducers in order to optimize the quality of seabed following. Our method was validated with the hydrodynamic simulator of the "Taipan" vehicle, which is our laboratory's autonomous underwater vehicle prototype.