【作者】 孙伟； 刘卫东； 郭利伟；

【Author】 SUN Wei;LIU Wei-dong;GUO Li-wei;School of Marine Science and Technology,Northwestern Polytechnical University;

【机构】 西北工业大学航海学院；

【摘要】 本文以一种新型无人潜水器为研究对象,主要研究潜水器在爬行过程中的避障方法。考虑到各种避障方法的优缺点和潜水器的实际运动情况,决定采用模糊逻辑方法。基于模糊逻辑理论,研究了声呐探测情况和模糊避障的输入输出。同时在MATLAB环境下进行算法的仿真。对于相同的障碍物,在相同起点和不同终点的情况下,潜水器从起点出发,向着目标点运动,途中遇到障碍物时,都能按照避障算法躲开障碍物。仿真结果验证了算法的可行性。更多还原

【Abstract】 This paper takes a new type of unmanned submersible as the research object,and mainly studies the obstacle avoidance method of the submersible in the crawling process.Taking into account the advantages and disadvantages of various obstacle avoidance methods and the actual movement of the submersible,it was decided to adopt the fuzzy logic method.Based on the fuzzy logic theory,the sonar detection and the input and output of fuzzy obstacle avoidance are studied.At the same time,the algorithm is simulated in the MATLAB environment.For the same obstacle,in the case of the same starting point and different ending points,the submersible starts from the starting point and moves toward the target point.When encountering an obstacle on the way,the obstacle can be avoided according to the obstacle avoidance algorithm.Simulation results verify the feasibility of the algorithm.更多还原