| AUV Local Path Planning Based on Acoustic Image Processing |
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| 作者姓名： | 李晔 常文田 姜大鹏 张铁栋 苏玉民 |
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| 作者单位： | College of Naval Architecture, Harbin Engineering University, Harbin 150001, China |
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| 摘 要： | The forward-looking image sonar is a necessary vision device for Autonomous Underwater Vehicles （AUV）. Based on the acoustic image received from forward-looking image sonar, AUV local path is planned. When the environment model is made to adapt to local path planning, an iterative algorithm of binary conversion is used for image segmentation. Raw data of the acoustic image, which were received from serial port, are processed. By the use of ＂Mathematic Morphology＂ to filter noise, a mathematic model of environment for local path planning is established after coordinate transformation. The optimal path is searched by the distant transmission （Dt） algorithm. Simulation is conducted for the analysis of the algorithm. Experiment on the sea proves it reliable.
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| 关 键 词： | 水下自动装置 声纳图象处理 局部路径规划 远距离传输算法 迭代算法 数学形态学 |
| 收稿时间： | 2006-01-09 |
| 修稿时间： | 2006-06-12 |
AUV Local Path Planning Based on Acoustic Image Processing |
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| LI Ye,CHANG Wen-tian,JIANG Da-peng,ZHANG Tie-dong,SU Yu-min.AUV Local Path Planning Based on Acoustic Image Processing[J].China Ocean Engineering,2006,20(4):645-656. |
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| Authors: | LI Ye CHANG Wen-tian JIANG Da-peng ZHANG Tie-dong SU Yu-min |
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| Abstract: | |
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| Keywords: | local path planning acoustic image mathematical morphology distant transmission algorithm |
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