基于水下通信的应急避障方法研究
Research on emergency obstacle avoidance method based on underwater communication
晁松杰 1娄艺1
作者信息
- 1. 河南工业大学漯河工学院,河南漯河 462002
- 折叠
摘要
本文阐述一种基于水下通信的应急避障系统结构,为了解决水下光通信容易受到干扰的问题,提出一种基于中继通信节点的水下声光通信架构,并通过资源调度来实现最佳通信效果.针对潜航器应急避障的问题,制定全局应急避障策略,根据不同要求规划不同的全局路径,提出基于DWA算法的局部避障策略,可以有效解决在出现动态障碍物情况下的应急避障问题.
Abstract
This paper describes an emergency obstacle avoidance system structure based on underwater communica-tion.In order to solve the problem that underwater optical communication is prone to interference,an underwater acousti-op-tic communication architecture based on relay communication nodes is proposed,and the optimal communication effect is achieved through resource scheduling.Aiming at the emergency obstacle avoidance problem of underwater vehicle,the glob-al emergency obstacle avoidance strategy is formulated,and different global paths are planned according to different require-ments.The local obstacle avoidance strategy based on DWA algorithm is proposed,which can effectively solve the emer-gency obstacle avoidance problem in the case of dynamic obstacles.
关键词
应急避障/水下通信/声光通信/中继通信节点Key words
emergency obstacle avoidance/underwater communication/acousto-optic communication/relay com-munication node引用本文复制引用
出版年
2024
NETL
NSTL
万方数据