{"title":"水下机器人的安全导航算法","authors":"V. S. Bykova, A. Mashoshin, I. V. Pashkevich","doi":"10.17285/0869-7035.0058","DOIUrl":null,"url":null,"abstract":"Abstract Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"86-95"},"PeriodicalIF":0.0000,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Safe Navigation Algorithm for Autonomous Underwater Vehicles\",\"authors\":\"V. S. Bykova, A. Mashoshin, I. V. Pashkevich\",\"doi\":\"10.17285/0869-7035.0058\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.\",\"PeriodicalId\":38999,\"journal\":{\"name\":\"Gyroscopy and Navigation\",\"volume\":\"12 1\",\"pages\":\"86-95\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Gyroscopy and Navigation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.17285/0869-7035.0058\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"Computer Science\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Gyroscopy and Navigation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.17285/0869-7035.0058","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Computer Science","Score":null,"Total":0}
Safe Navigation Algorithm for Autonomous Underwater Vehicles
Abstract Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.
期刊介绍：
Gyroscopy and Navigation is an international peer reviewed journal that covers the following subjects: inertial sensors, navigation and orientation systems; global satellite navigation systems; integrated INS/GNSS navigation systems; navigation in GNSS-degraded environments and indoor navigation; gravimetric systems and map-aided navigation; hydroacoustic navigation systems; navigation devices and sensors (logs, echo sounders, magnetic compasses); navigation and sonar data processing algorithms. The journal welcomes manuscripts from all countries in the English or Russian language.
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