The Path Planning of AUV Based on D-S Information Fusion Map Building and Bio-Inspired Neural Network in Unknown Dynamic Environment:

International Journal of Advanced Robotic Systems

DaqiZhu¹ 

关键词: AUV (Autonomous Underwater Vehicle);    Map Building;    D-S Information Fusion;    Path Planning;    Biologically Inspired Neural Dynamics;    Neural Network;    Obstacle Avoidance;   

DOI  :  10.5772/56346

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper a biologically inspired neural dynamics and map planning based approach are simultaneously proposed for AUV (Autonomous Underwater Vehicle) path planning and obstacle avoidance in an unknown dynamic environment. Firstly the readings of an ultrasonic sensor are fused into the map using the D-S (Dempster-Shafer) inference rule and a two-dimensional occupancy grid map is built. Secondly the dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation. The AUV path is autonomously generated from the dynamic activity landscape of the neural network and previous AUV location. Finally, simulation results show high quality path optimization and obstacle avoidance behaviour for the AUV.

【 授权许可】

CC BY