摘要
Thispaperdescribespathre-planningtechniquesandunderwaterobstacleavoidanceforunmannedsurfacevehicle（USV）basedonmulti-beamforwardlookingsonar（FLS）.Near-optimalpathsinstaticanddynamicenvironmentswithunderwaterobstaclesarecomputedusinganumericalsolutionprocedurebasedonanAalgorithm.TheUSVismodeledwithacircularshapein2degreesoffreedom（surgeandyaw）.Inthispaper,two-dimensional（2-D）underwaterobstacleavoidanceandtherobustreal-timepathre-planningtechniqueforactualUSVusingmulti-beamFLSaredeveloped.Ourreal-timepathre-planningalgorithmhasbeentestedtoregeneratetheoptimalpathforseveralupdatedframesinthefieldofviewofthesonarwithaproperupdatefrequencyoftheFLS.Theperformanceoftheproposedmethodwasverifiedthroughsimulations,andseaexperiments.Forsimulations,theUSVmodelcanavoidbothasinglestationaryobstacle,multiplestationaryobstaclesandmovingobstacleswiththenear-optimaltrajectorythatareperformedbothinthevehicleandtheworldreferenceframe.Forseaexperiments,theproposedmethodforanunderwaterobstacleavoidancesystemisimplementedwithaUSVtestplatform.TheactualUSVisautomaticallycontrolledandsucceededinitsreal-timeavoidanceagainstthestationaryunderseaobstacleinthefieldofviewoftheFLStogetherwiththeGlobalPositioningSystem（GPS）oftheUSV.
出版日期
2014年01月11日（中国期刊网平台首次上网日期，不代表论文的发表时间）
