Research on AUV Obstacle Avoidance Based on BP Neural Network

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	Research on AUV Obstacle Avoidance Based on BP Neural Network
	Dong LY(董凌艳); Xu HL(徐红丽)
	2017
会议名称	2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017)
会议日期	September 15-18, 2017
会议地点	Kitakyushu, Japan
关键词	obstacle avoidance AUV BP neural network.
页码	26-29
通讯作者	Dong LY(董凌艳)
中文摘要	Autonomous underwater vehicle should have real-time obstacle avoidance ability of self-protection in autonomous operation in unknown environment. A three-dimensional real-time obstacle avoidance method is proposed for under-actuated AUV with the distance sensor as obstacle avoidance sensor. The output information of the distance sensor is converted into a dangerous degree which as the input of BP neural network. The output of BP neural network is the heading or the depth of AUV which is to be adjusted. The effectiveness of obstacle avoidance method based on BP neural network is verified by MATLAB simulation.
收录类别	EI
产权排序	1
会议录	2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017)
会议录出版者	ACM
会议录出版地	New York
语种	英语
ISBN号	978-1-4503-5327-4
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21295]
专题	沈阳自动化研究所_海洋信息技术装备中心
作者单位	1.University of Chinese Academy of Science, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
推荐引用方式 GB/T 7714	Dong LY,Xu HL. Research on AUV Obstacle Avoidance Based on BP Neural Network[C]. 见:2017 The 2nd International Conference on Robotics, Control and Automation (ICRCA 2017). Kitakyushu, Japan. September 15-18, 2017.