【摘要】 针对当前水下机器人多以前视声呐作为环境感知设备的特点,设计了一种基于声学图像处理的水下机器人局部路径规划算法.给出了基于声学图像处理的局部路径规划基本步骤.以前视图像声呐得到的声学图像为基础,进行环境分析.以串口接收声呐图像底层回波强度数据,利用迭代式阈值选择算法,进行图像分割.采用数学形态学方法去除噪声,膨化障碍物,建立环境数学模型.以距离值传递法搜索最佳路径.此算法以海上实验数据验证,得到了良好的规划结果.搜索到的路径距离短,搜索速度快,满足实验要求.实验表明,以前视声呐作为避碰传感器,进行局部路径规划是切实可行的.更多还原

【Abstract】 Most autonomous underwater vehicles(AUVs) are equipped with forward-looking sonar.Proposed is a local path planning method based on sonar image processing.The environment was analyzed by an acoustical image produced from the forward-looking sonar,echo wave strength data was received by a serial port,and an iterative threshold election algorithm was used for image segmentation.A mathematic morphology method was used to remove noise and expand obstacles.Finally,a mathematic model for the environment was founded and the path was searched by distant value propagation.Good results were received from experimental data in the sea, with an optimal path identified in a short time.The experiment proved that local path planning based on sonar image processing is possible.更多还原