Simulation program complex for studying motion control methods for autonomous underwater vehicles

被引：3

作者：

Bobkov, V. A. ^{[1
]}

Borisov, Yu. S. ^{[1
]}

Inzartsev, A. V. ^{[1
]}

Mel'man, S. V. ^{[1
]}

机构：

[1] Russian Acad Sci, Far E Div, Inst Automat & Control Proc, Vladivostok 690022, Russia

来源：

PROGRAMMING AND COMPUTER SOFTWARE | 2008年 / 34卷 / 05期

基金：

俄罗斯基础研究基金会;

关键词：

Underwater Vehicle; Autonomous Underwater Vehicle; Trajectory Planning; Optical Range; Environment Point;

D O I：

10.1134/S0361768808050022

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

Development of a graphical simulation complex for studying motion control methods for autonomous underwater vehicles is discussed. Its structure and functioning scheme are presented. An approach to solving navigation problem and to 3D reconstruction of underwater environment from a given sequence of digital images is described. It is based on the use of an extended Kalman filter and original algorithm of dense 3D recovery of the environment points. Results of computational experiments and estimates of the efficiency of the approach are presented.

引用

页码：257 / 266

页数：10

共 18 条

[1]

AGEEV MD, 2005, AVTONOMNYE PODVODNYE

[2]

[Anonymous], P IEEE CVF INT C COM, P593

[3]

Ayache N., 1991, ARTIFICIAL VISION MO

[4]

BRUTZMAN D, 1995, P IEEE OC ENG SOC C, P1592

[5]

Bruzzone G, 2001, OCEANS 2001 MTS/IEEE: AN OCEAN ODYSSEY, VOLS 1-4, CONFERENCE PROCEEDINGS, P1066, DOI 10.1109/OCEANS.2001.968264

[6]

DESOUSA JB, 1997, WINT SIM C ATL US DE, P1169

[7] Mosaic-based navigation for autonomous, underwater vehicles [J].

Gracias, NR ;

van der Zwaan, S ;

Bernardino, A ;

Santos-Victor, J .

IEEE JOURNAL OF OCEANIC ENGINEERING, 2003, 28 (04) :609-624

[8]

HARRIS CG, 1987, 3 ALW VIS C, P147

[9]

HOGUE A, 2006, P 3 CAN C COMP ROB V

[10] CLOSED-FORM SOLUTION OF ABSOLUTE ORIENTATION USING UNIT QUATERNIONS [J].

HORN, BKP .

JOURNAL OF THE OPTICAL SOCIETY OF AMERICA A-OPTICS IMAGE SCIENCE AND VISION, 1987, 4 (04) :629-642

← 1 2 →