239000011159 matrix material Substances 0.000 description 2.238000005265 energy consumption Methods 0.000 description 2.238000004364 calculation method Methods 0.000 description 2.230000000875 corresponding Effects 0.000 abstract description 4.230000001809 detectable Effects 0.000 claims description 2.230000000007 visual effect Effects 0.000 claims description 4.230000001133 acceleration Effects 0.000 claims description 6.238000005457 optimization Methods 0.000 claims description 9.238000001514 detection method Methods 0.000 claims description 9.238000005516 engineering process Methods 0.000 claims abstract description 5. 238000004422 calculation algorithm Methods 0.000 claims abstract description 56.Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.) Filing date Publication date Application filed by Harbin Engineering University filed Critical Harbin Engineering University Priority to CN201910182252.3A priority Critical patent/CN109725650B/en Publication of CN109725650A publication Critical patent/CN109725650A/en Application granted granted Critical Publication of CN109725650B publication Critical patent/CN109725650B/en Status Active legal-status Critical Current Anticipated expiration legal-status Critical Links Original Assignee Harbin Engineering University Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.) ( en Inventor 李娟� 张建新 陈兴华 陈新年 杜雪 王宏健 Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.) Granted Application number CN201910182252.3A Other languages Chinese ( zh) Google Patents A kind of AUV barrier-avoiding method under intensive obstacle environmentĭownload PDF Info Publication number CN109725650A CN109725650A CN201910182252.3A CN201910182252A CN109725650A CN 109725650 A CN109725650 A CN 109725650A CN 201910182252 A CN201910182252 A CN 201910182252A CN 109725650 A CN109725650 A CN 109725650A Authority CN China Prior art keywords barrier avoidance auv obstacle sonar Prior art date Legal status (The legal status is an assumption and is not a legal conclusion. Google Patents CN109725650A - A kind of AUV barrier-avoiding method under intensive obstacle environment CN109725650A - A kind of AUV barrier-avoiding method under intensive obstacle environment
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