碩士 / 國立臺灣大學 / 造船工程學系 / 85 / In this work, we use the continuous image sequences generated by
an electronic scanning sonar to achieve the aim of obstacle
avoidance and visual navigation for AUV (Autonomous Underwater
Vehicles). Using sonar systems for sensing of unknown underwater
environments is the best selection in practice. However, the
critical demand for real-time signal processing and the
uncertainties of AUV's dynamics make on-line detection of
obstacle a challenging task. Track-Before-Detection (TBD)
algorithm uses information contained in image sequences to
estimate the dynamics of AUV, then apply Dynamic Programming
(DP)algorithm to solve for the problem of detection. This method
reduces the computational cost to meet the real-time demand of
AUV system. An application for obstacle avoidance and navigation
system based on this method is proposed.
| Identifer | oai:union.ndltd.org:TW/085NTU00345027 |
| Date | January 1997 |
| Creators | Liu, Te-Chih, 劉德志 |
| Contributors | J.H. Gou, 郭振華 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 51 |
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