论文标题
评估使用多个低成本前瞻性声纳束在小型AUV中避免碰撞的好处
Evaluating the Benefit of Using Multiple Low-Cost Forward-Looking Sonar Beams for Collision Avoidance in Small AUVs
论文作者
论文摘要
我们试图严格评估使用几光束而不是单个梁来用于低成本障碍物的小型AUV的好处。对于小的低成本AUV，多光束前向声音所需的复杂性，成本和体积是刺激性的。相比之下，单光束系统相对容易集成到小的AUV中，但不能提供多光束溶液的性能。为了更好地理解这一权衡，我们试图严格量化避免障碍性能的改进，以相对于单光束系统的性能，将几光束添加到单束前向前的声纳。我们的工作从根本上支持了在混乱和非结构化环境中使用小型低成本AUV系统的目标。具体而言，我们研究了将端口和右舷梁纳入单光束声纳系统以进行碰撞的好处。开发了一种用于避免碰撞的方法，以获得单光束和多光束系统之间的公平比较，该方法明确地结合了带有大型梁角的前视声纳的光束图案的几何形状，并使用声学信号传播的高效率表示。
We seek to rigorously evaluate the benefit of using a few beams rather than a single beam for a low-cost obstacle avoidance sonar for small AUVs. For a small low-cost AUV, the complexity, cost, and volume required for a multi-beam forward looking sonar are prohibitive. In contrast, a single-beam system is relatively easy to integrate into a small AUV, but does not provide the performance of a multi-beam solution. To better understand this trade-off, we seek to rigorously quantify the improvement with respect to obstacle avoidance performance of adding just a few beams to a single-beam forward looking sonar relative to the performance of the single-beam system. Our work fundamentally supports the goal of using small low-cost AUV systems in cluttered and unstructured environments. Specifically, we investigate the benefit of incorporating a port and starboard beam to a single-beam sonar system for collision avoidance. A methodology for collision avoidance is developed to obtain a fair comparison between a single-beam and multi-beam system, explicitly incorporating the geometry of the beam patterns from forward-looking sonars with large beam angles, and simulated using a high-fidelity representation of acoustic signal propagation.
