Research On 3d Collision Avoidance Of The AUV Based On Multi Single-beam Sonars

Underwater robot is an important carrier in ocean application. As a representation of underwater robot, AUV has practical value in both civilian and military section. Collision avoidance is one of the critical technologies for AUV and plays an important role in AUV control system. This dissertation searched and designed a collision avoidance(abbr. CA) approach, based on the specific sensors configuration of one engineering program.In batch production of mini AUV cost is taken into consideration. The dissertation changed the CA sensor by substituting multiple-wave sonar for single-wave sonars array. Referred to the modeling principle of grid technology and through analysis of basic optimization principle in artificial potential field (APF) and other local path planning technologies, First-Viewpoint APF, a 3D CA approach in dynamic reference frame was put forward to suit the changed sensors to guarantee a good CA performance of the mini AUV.The designing process of FV-APF was given in detail, including the modeling of submodules, explaining of their functions and exploring the method of data combination. Compared with APF and the rule-based approach, the local minimum problem of APF and the limitation in principle of the rule approach.According to the module structure of the presented CA approach, designing process of program was introduced. The flow chart and organic relations of the main sections of the program was given out in detail.Finally, simulation and semi-physical test were conducted to validate the new approach. It is presented in detail, the test environment, the setting of hardware and software configuration, and the test procedure and test results. Some representative data were selected to emphasize the performance of the CA program. It was showed that the CA program is comparatively reliable.