摘要
障碍物探测识别、避障是无人水下航行器关键技术之一。提出了一种基于多波束前视声呐的障碍物识别和避障技术。首先采用自适应分割将声呐图像分割为目标区域和非目标区域,接着提取目标的椭圆特征信息,然后应用模糊控制来实现实时避障控制,最后对方法进行了仿真和湖试。该技术已成功应用到某UUV,结果表明,该技术效果良好,对UUV障碍物探测识别、避障具有重要的理论价值和现实的参考意义。
引文
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