基于三维成像声纳技术的AUV前视避障方法

针对自主式水下航行器（ AUV）在水下自主航行过程中的避障问题，提出了一种基于三维成像声纳技术的前视避障方法。该方法使用三维成像声纳探测目标，通过声纳目标图像处理提取目标，完成目标的运动状态分析和轨迹预测。通过设置碰撞区域，建立避障模型和设计避障规则，实现了AUV的智能化避障。借助于其他传感器，这些关联模块构成了一个集目标探测、目标提取、轨迹预测、避障与路线回归等功能于一体的闭环系统。

Forward obstacle avoidance method for AUV based on 3 D imaging sonar technology

A forward obstacle avoidance method based on 3D imaging sonar technology is presented,aiming at problem of obstacle avoidance during underwater autonomous navigation for AUV. The method detects sonar targets by using 3D imaging sonar and extracts target via sonar images processing,achieve analysis on moving status of underwater objects and predict moving track. By setting up collision area,build model for obstacle avoidance and design obstacle avoidance rules,realize AUV intelligent obstacles avoidance. With the help of the other sensors, these related modules form an entire closed-loop system which integrates the functions including object detection, object extraction,track prediction,obstacle avoidance and path regression.