TY - GEN
T1 - Collision Risk Assessment and Costmap Construction Methods for AUVs Using Forward-Looking Sonar
AU - Cui, Bo
AU - Yan, Weisheng
AU - Cui, Rongxin
AU - Zhang, Yangming
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Autonomous underwater vehicles (AUVs) have been widely employed in a variety of tasks, ranging from environmental exploration and resource surveying to complex tasks that achieve superhuman performance. In this paper, a collision risk assessment method is proposed to estimating the probability of collisions between AUV s and obstacles. In the proposed method, an assessment model composed of a distance risk function and an orientation risk function is defined to calculate the collision risk. A rule base is designed to classify the collision risk of different levels while sending warning signals. In addition, a costmap construction method using forward- looking sonar is proposed, which estimates the collision cost and sonar cost to ensure the safety of AUVs. And the aspect ratio of the costmap is changed so that the planned path can meet the minimum turning radius constraint of the AUVs. The effectiveness of the proposed methods is demonstrated in a series of simulations.
AB - Autonomous underwater vehicles (AUVs) have been widely employed in a variety of tasks, ranging from environmental exploration and resource surveying to complex tasks that achieve superhuman performance. In this paper, a collision risk assessment method is proposed to estimating the probability of collisions between AUV s and obstacles. In the proposed method, an assessment model composed of a distance risk function and an orientation risk function is defined to calculate the collision risk. A rule base is designed to classify the collision risk of different levels while sending warning signals. In addition, a costmap construction method using forward- looking sonar is proposed, which estimates the collision cost and sonar cost to ensure the safety of AUVs. And the aspect ratio of the costmap is changed so that the planned path can meet the minimum turning radius constraint of the AUVs. The effectiveness of the proposed methods is demonstrated in a series of simulations.
UR - http://www.scopus.com/inward/record.url?scp=85147329359&partnerID=8YFLogxK
U2 - 10.1109/ROBIO55434.2022.10011975
DO - 10.1109/ROBIO55434.2022.10011975
M3 - 会议稿件
AN - SCOPUS:85147329359
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 2201
EP - 2206
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -