| 基于DIDSON的未知海域覆盖规划算法 |
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| 引用本文： | 孔祥瑞,何波,金雪,沈钺.基于DIDSON的未知海域覆盖规划算法[J].海洋技术,2019,38(4):45-54. |
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| 作者姓名： | 孔祥瑞 何波 金雪 沈钺 |
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| 作者单位： | 中国海洋大学,山东青岛,266100;中国海洋大学,山东青岛,266100;中国海洋大学,山东青岛,266100;中国海洋大学,山东青岛,266100 |
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| 基金项目： | 国家重点研发计划资助项目;中国博士后科学基金特别资助项目 |
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| 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。文中提出了一种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。
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| 关 键 词： | 覆盖路径规划 自主水下航行器 双频识别侧扫声呐(DIDSON) |
A Coverage Path Planning Algorithm Based on DIDSON for Unknown Marine Environment |
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| KONG Xiangrui,HE Bo,JIN Xue and SHEN Yue.A Coverage Path Planning Algorithm Based on DIDSON for Unknown Marine Environment[J].Ocean Technology,2019,38(4):45-54. |
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| Authors: | KONG Xiangrui HE Bo JIN Xue and SHEN Yue |
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| Institution: | School of Information Science and Engineering, Ocean University of China, Qingdao, 266100, China,School of Information Science and Engineering, Ocean University of China, Qingdao, 266100, China,School of Information Science and Engineering, Ocean University of China, Qingdao, 266100, China and School of Information Science and Engineering, Ocean University of China, Qingdao, 266100, China |
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| Abstract: | 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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| Keywords: | coverage path planning AUV dual frequency side scan sonar |
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