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Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment
Joint Authors
Yan, Zheping
Hou, Shuping
Zheng, Yalin
Zhao, Yufei
Zhang, Honghan
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-24
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
To avoid obstacle in the unknown environment for unmanned undersea vehicle (UUV), an obstacle avoiding system based on improved vector field histogram (VFH) is designed.
Forward looking sonar is used to detect the environment, and the divisional sonar modal is applied to deal with the measure uncertainty.
To adapt to the VFH, rolling occupancy grids are used for the map building, and high accuracy details of local environment are obtained.
The threshold is adaptively adjusted by the statistic of obstacles to solve the problem that VFH is sensitive to threshold.
To improve the environment adaptability, the hybrid-behaviors strategy is proposed, which selects the optimal avoidance command according to the motion status and environment character.
The simulation shows that UUV could avoid the obstacles fast and escape from the U shape obstacles.
American Psychological Association (APA)
Yan, Zheping& Zhao, Yufei& Hou, Shuping& Zhang, Honghan& Zheng, Yalin. 2013. Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1032403
Modern Language Association (MLA)
Yan, Zheping…[et al.]. Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment. Mathematical Problems in Engineering No. 2013 (2013), pp.1-12.
https://search.emarefa.net/detail/BIM-1032403
American Medical Association (AMA)
Yan, Zheping& Zhao, Yufei& Hou, Shuping& Zhang, Honghan& Zheng, Yalin. Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-1032403
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032403