CN102999050B - 一种智能水下机器人的自主避障方法 - Google Patents
一种智能水下机器人的自主避障方法 Download PDFInfo
- Publication number
- CN102999050B CN102999050B CN201210539473.XA CN201210539473A CN102999050B CN 102999050 B CN102999050 B CN 102999050B CN 201210539473 A CN201210539473 A CN 201210539473A CN 102999050 B CN102999050 B CN 102999050B
- Authority
- CN
- China
- Prior art keywords
- max
- robot
- psi
- underwater robot
- underwater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201210539473.XA CN102999050B (zh) | 2012-12-13 | 2012-12-13 | 一种智能水下机器人的自主避障方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201210539473.XA CN102999050B (zh) | 2012-12-13 | 2012-12-13 | 一种智能水下机器人的自主避障方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102999050A CN102999050A (zh) | 2013-03-27 |
CN102999050B true CN102999050B (zh) | 2015-04-08 |
Family
ID=47927743
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201210539473.XA Active CN102999050B (zh) | 2012-12-13 | 2012-12-13 | 一种智能水下机器人的自主避障方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN102999050B (zh) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104049634B (zh) * | 2014-07-02 | 2017-02-01 | 燕山大学 | 基于Camshift算法的智能体模糊动态避障方法 |
CN104462662B (zh) * | 2014-11-14 | 2017-07-28 | 中国海洋石油总公司 | 水下生产设施虚拟装配方法 |
CN104571128B (zh) * | 2014-12-26 | 2017-06-20 | 燕山大学 | 基于距离与视差信息的水下机器人避障方法 |
CN104777845B (zh) * | 2015-04-15 | 2018-04-03 | 上海海事大学 | 水下机器人的水下本体装置及自主避障方法 |
CN104914867B (zh) * | 2015-06-12 | 2018-02-16 | 吉林大学 | 一种模糊神经网络的六足机器人自主导航闭环控制器 |
US20170083794A1 (en) * | 2015-09-18 | 2017-03-23 | Ford Global Technologies, Llc | Virtual, road-surface-perception test bed |
CN105667745A (zh) * | 2016-01-21 | 2016-06-15 | 王昕� | 自主水下航行器及其控制方法 |
CN105807769B (zh) * | 2016-03-09 | 2018-09-28 | 哈尔滨工程大学 | 无人水下航行器ivfh避碰方法 |
CN107479556B (zh) * | 2017-09-15 | 2019-07-05 | 大连理工大学 | 两轮自平衡车主动避障轨迹规划与稳定跟踪控制方法 |
CN107918399B (zh) * | 2017-11-06 | 2018-12-07 | 哈尔滨工程大学 | 一种适用于水下机器人的快速融合避障方法 |
CN108037766B (zh) * | 2017-12-11 | 2021-04-09 | 河海大学 | 一种浮游滚进底栖型潜水器控制*** |
CN108020226B (zh) * | 2017-12-11 | 2021-05-18 | 中国科学院长春光学精密机械与物理研究所 | 一种固定翼无人机自主避障的航迹规划方法 |
CN108459614B (zh) * | 2018-01-17 | 2020-12-04 | 哈尔滨工程大学 | 一种基于cw-rnn网络的uuv实时避碰规划方法 |
CN108363400B (zh) * | 2018-01-29 | 2020-12-22 | 哈尔滨工程大学 | 一种基于虚拟锚泊的欠驱动auv三维控制区域镇定控制方法 |
CN108444481B (zh) * | 2018-03-25 | 2019-08-06 | 哈尔滨工程大学 | 一种基于辅助决策***的水下潜器路径规划方法 |
CN108628326B (zh) * | 2018-07-11 | 2020-04-07 | 哈尔滨工程大学 | 一种智能水下机器人运动重规划策略 |
CN110968084B (zh) * | 2018-09-30 | 2021-06-01 | 中国科学院沈阳自动化研究所 | 一种自主遥控水下机器人人机共享控制方法 |
CN110865333B (zh) * | 2019-11-19 | 2021-08-24 | 浙江大学 | 洋流影响下水下滑翔机单信标无源声学定位方法 |
CN111142533B (zh) * | 2020-01-03 | 2023-08-15 | 大连民族大学 | 多个无人水面艇的多势场避障方法及复杂环境下多usv多模式编队避障控制方法 |
CN111923038B (zh) * | 2020-07-01 | 2022-04-15 | 深圳市越疆科技有限公司 | 机械臂式机器人、机器人的避障方法及存储介质 |
CN111890359B (zh) * | 2020-07-01 | 2022-04-15 | 深圳市越疆科技有限公司 | 机器人避障方法、机械臂式机器人及存储介质 |
CN111951609B (zh) * | 2020-07-24 | 2022-08-09 | 深圳市云洲创新科技有限公司 | 桥梁主动防撞预警方法、装置、设备及存储介质 |
CN113156981A (zh) * | 2020-11-25 | 2021-07-23 | 瞿巧英 | 一种水下避障的智能***及基于该***的自主避障方法 |
CN113459089B (zh) * | 2021-06-09 | 2022-04-29 | 华中科技大学 | 一种面向水下无人艇-双机械臂作业***的动力学耦合效应评价方法 |
CN117055585B (zh) * | 2023-10-09 | 2024-03-05 | 青州市巨龙环保科技有限公司 | 一种智能水下机器人的智能控制方法和*** |
CN117826826B (zh) * | 2024-03-04 | 2024-07-05 | 广东电网有限责任公司阳江供电局 | 一种水下机器人的自主避障方法及*** |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5758298A (en) * | 1994-03-16 | 1998-05-26 | Deutsche Forschungsanstalt Fur Luft-Und Raumfahrt E.V. | Autonomous navigation system for a mobile robot or manipulator |
CN101408772A (zh) * | 2008-11-21 | 2009-04-15 | 哈尔滨工程大学 | Auv智能避碰装置及避碰方法 |
CN101551672A (zh) * | 2008-04-02 | 2009-10-07 | 天津市斯卡特科技有限公司 | 一种水下探测器的路径规划方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE526913C2 (sv) * | 2003-01-02 | 2005-11-15 | Arnex Navigation Systems Ab | Förfarande i form av intelligenta funktioner för fordon och automatiska lastmaskiner gällande kartläggning av terräng och materialvolymer, hinderdetektering och styrning av fordon och arbetsredskap |
-
2012
- 2012-12-13 CN CN201210539473.XA patent/CN102999050B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5758298A (en) * | 1994-03-16 | 1998-05-26 | Deutsche Forschungsanstalt Fur Luft-Und Raumfahrt E.V. | Autonomous navigation system for a mobile robot or manipulator |
CN101551672A (zh) * | 2008-04-02 | 2009-10-07 | 天津市斯卡特科技有限公司 | 一种水下探测器的路径规划方法 |
CN101408772A (zh) * | 2008-11-21 | 2009-04-15 | 哈尔滨工程大学 | Auv智能避碰装置及避碰方法 |
Non-Patent Citations (1)
Title |
---|
刘学敏等.基于运动平衡点的水下机器人自主避障方式.《机器人》.2001,第23卷(第3期), * |
Also Published As
Publication number | Publication date |
---|---|
CN102999050A (zh) | 2013-03-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102999050B (zh) | 一种智能水下机器人的自主避障方法 | |
Zhou et al. | The review unmanned surface vehicle path planning: Based on multi-modality constraint | |
Peng et al. | Development of the USV ‘JingHai-I’and sea trials in the Southern Yellow Sea | |
Wang et al. | A COLREGs-based obstacle avoidance approach for unmanned surface vehicles | |
Larson et al. | Advances in autonomous obstacle avoidance for unmanned surface vehicles | |
WO2020253028A1 (zh) | 一种基于航迹重规划的水面无人艇动态避碰方法 | |
Erckens et al. | Avalon | |
CN108445879A (zh) | 一种基于预测碰撞危险区域的无人艇避障方法 | |
Bandyophadyay et al. | A simple reactive obstacle avoidance algorithm and its application in singapore harbor | |
Carreras et al. | Sparus II, design of a lightweight hovering AUV | |
CN106094606A (zh) | 一种水面无人艇导航与控制遥操作平台 | |
Wang et al. | Path following control of the wave glider in waves and currents | |
Du et al. | Trajectory-cell based method for the unmanned surface vehicle motion planning | |
Svec et al. | USV trajectory planning for time varying motion goals in an environment with obstacles | |
Mousazadeh et al. | Experimental evaluation of a hydrography surface vehicle in four navigation modes | |
Bitar | Towards the development of autonomous ferries | |
Lazarowska | A new potential field inspired path planning algorithm for ships | |
Nie et al. | Planar path-following tracking control for an autonomous underwater vehicle in the horizontal plane | |
CN114088094A (zh) | 一种无人艇的智能航路规划方法及*** | |
JP6686249B2 (ja) | 船舶の自動操縦システム、船舶、及び船舶の自動操縦方法 | |
Kim et al. | A numerical and experimental study on the obstacle collision avoidance system using a 2D LiDAR sensor for an autonomous surface vehicle | |
Ennong et al. | Design and experiment of a sea-air heterogeneous unmanned collaborative system for rapid inspection tasks at sea | |
Paez et al. | Implementation of an unmanned surface vehicle for environmental monitoring applications | |
Raj et al. | Dynamically feasible trajectory planning for anguilliform-inspired robots in the presence of steady ambient flow | |
Yu et al. | A time dimension-added multiple obstacles avoidance approach for unmanned surface vehicles |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170207 Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University Patentee after: Gao Liangtian Patentee after: Sun Yushan Patentee after: Jia Hui Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office Patentee before: Harbin Engineering Univ. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170914 Address after: 150028, Heilongjiang hi tech Industrial Development Zone, Harbin science and technology innovation city, innovation and entrepreneurship Plaza, building 15 (192 bright moon street) torch networking building, room 349 Patentee after: Harbin ha te special equipment technology development Co., Ltd. Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001 Co-patentee before: Gao Liangtian Patentee before: Science Park Development Co., Ltd. of Harbin Engineering University Co-patentee before: Sun Yushan Co-patentee before: Jia Hui |