This book focuses on how to design a complete AUV real-time collision avoidance system, and introduces each part involved in the real-time collision avoidance system, mainly including: how to express and judge the collision avoidance scene according to the output information of different categories of collision avoidance sonar (Chapters 2 and 3); how to make real-time decisions on collision avoidance behavior according to the collision avoidance scene and system status (Chapters 4 and 5); how to update the map in real time and perform real-time path planning (Chapter 6); finally, a quantitative evaluation method for real-time collision avoidance capability is proposed for collision avoidance performance evaluation (Chapter 7). Series Preface 1 Series Preface 2 Preface 1 Introduction 2 Collision risk estimation based on ranging sonar 3 Underwater obstacle feature extraction based on sonar images 4 Real-time collision avoidance decision-making method for autonomous underwater robots 5 Real-time collision avoidance learning method for autonomous underwater robots 6 Real-time path planning method for autonomous underwater robots 7 Evaluation and verification of real-time collision avoidance system Index Color map
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