Abstract:

Based on analyses of the development of underwater vehicles and the characteristics of underwater tasks,the paper illustrated a task strategy for small target positioning by an under-actuated remotely operated vehicle(ROV) in complex terrain.With the consideration of the work environment for the special and small target search,a control strategy based on isobath and multi-sensors for path planning was also presented.Furthermore,beam interpolating method and coordinate transform method were used,the edge refinement for the object was available for accuracy of feature extraction.The experimental conclusion shows they are certified to feasibility and effectiveness for underwater small target position task.

Key words: search strategy, underwater vehicle, isobath, sonar recognition

摘要：

论述了一种在水底起伏较大情况下的欠定位水下机器人执行水底小目标搜索任务的策略。该策略主要基于作业区域的等深线地图对水下机器人进行路径规划，在搜索过程中应用水下机器人的航向、深度、离底高度等多传感器信息和等深线地图对欠定位水下机器人导航。初步应用声纳图像识别技术对水下特征物进行了识别。通过在漳河水库的重复实验,验证了该策略可有效运用到欠定位水下机器人的小目标搜索任务中。



关键词: 搜索策略, 水下机器人, 等深线, 声纳识别