| 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 |
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| 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 |
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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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