基于DIDSON的未知海域覆盖规划算法
A Coverage Path Planning Algorithm Based on DIDSON for Unknown Marine Environment
  
DOI:
中文关键词:  覆盖路径规划  自主水下航行器  双频侧扫声呐
英文关键词:coverage path planning  AUV  dual frequency side scan sonar
基金项目:
作者单位
孔祥瑞 1. 中国海洋大学山东 青岛 266100 
何波 1. 中国海洋大学山东 青岛 266100 
金雪 1. 中国海洋大学山东 青岛 266100 
沈钺 1. 中国海洋大学山东 青岛 266100 
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中文摘要:
      针对自主水下机器人的路径规划问题,提出一种基于双频识别侧扫声呐(DIDSON)的全局路径规划算法。根据双频识别侧扫声呐的物理特性对AUV进行数学建模,根据声呐的工作频率不同,将AUV分为高频低频两种工作模式。高频模式下成像精度高,低频模式下成像范围大。本文提出了一种D2-CPP算法,根据声呐返回的识别结果,算法会自主切换AUV的工作模式,并动态规划出对应的路径点,直到覆盖所有区域。通过与割草机算法的仿真对比证明了算法的有效性,近海实验证明了算法的可靠性。
英文摘要:
      To solve the path planning problem of autonomous underwater vehicle (AUV), a global path planning algorithm based on dual-frequency identification side-scan sonar (DIDSON) is proposed. According to the physical characteristics of the DIDSON sonar, the AUV is modeled mathematically. And the AUV is divided into two operating modes: high frequency and low frequency. Moreover, the image in high frequency has a higher precision and the image producing in low frequency mode has a wider range. In this paper, a DIDSON data-driven coverage path planning (D2-CPP) algorithm is proposed. After the recognition results received by sonar, D2-CPP will switch the working mode of AUV automatically and plan dynamically a set of corresponding path points until all areas are covered. Compared with the lawnmower algorithm, the simulation and offshore experiments show that the algorithm is effective and reliable.
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