Collision Risk Assessment and Costmap Construction Methods for AUVs Using Forward-Looking Sonar

Bo Cui, Weisheng Yan, Rongxin Cui, Yangming Zhang

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

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.

源语言英语
主期刊名2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
出版商Institute of Electrical and Electronics Engineers Inc.
2201-2206
页数6
ISBN(电子版)9781665481090
DOI
出版状态已出版 - 2022
活动2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 - Jinghong, 中国
期限: 5 12月 20229 12月 2022

出版系列

姓名2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

会议

会议2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
国家/地区中国
Jinghong
时期5/12/229/12/22

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