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طراحی سامانه عبور از موانع تلفیقی اکوستیکی-اپتیکی در رونده های زیرآبی خودران به کمک روش پیروی دیواره و پیروی غرفه
غلامرضا نادعلی نیاچاری*1 ، علیرضا احمدی فرد2
1- دانشگاه صنعتی شهرود
2- دانشگاه صنعتی شاهرود
چکیده:   (36 مشاهده)
تشخیص موانع و اجتناب از برخورد با آنها یکی از چالش های بزرگ برای وسایل نقلیه زیرآبی خودران (AUV) محسوب می‌شود. برای اجتناب از بکارگیری سونارهای بُرد بلند که قیمت بالایی دارند، این مسئله دشوارتر می‌شود. در این مقاله، یک چارچوب آکوستیکی-اپتیکی یکپارچه برای تشخیص مانع و برنامه‌ریزی مسیر ایمن ارائه می‌گردد. این روش بر اساس استفاده توام  تصویر دوربین مرئی، هنگامیکه وسیله نزدیک سطح آب بالا می‌آید، و دو اسکن متوالی سونار، هنگامیکه وسیله زیر آب حرکت می‌کند، طراحی شده است. در روش پیشنهادی از یک شبکه U-NET با یک رمزگذار MobileNetV2 برای تشخیص موانع و از یک شبکه LSTM برای پیش‌بینی موقعیت‌ها و حرکت موانع متحرک استفاده می‌شود. همچنین از ترکیب شبکه U-NET و الگوریتم میدان پتانسیل مصنوعی (APF) برای بدست آوردن مسیر بهینه وسیله نقلیه، استفاده شدهاست. علاوه بر این، دو روش، روش پیروی دیواره (WFM) و روش پیروی غرفه  (SFM)، برای تبدیل مسیر بهینه به‌دست‌آمده از APF به تصاویر هدف مناسب برای آموزش شبکه معرفی شده‌اند. نتایج تجربی بر اساس داده‌های واقعی و شبیه‌سازی شده نشان می‌دهد که دقت تشخیص مسیر ایمن با استفاده از WFM بر اساس معیار IOU به 0.965 می‌رسد. علاوه بر این، بُرد تشخیص موانع زیر آب در مقایسه با استفاده از اطلاعات سونار به تنهایی با بُرد مشابه تقریباً 15 متر افزایش می‌یابد. این مسئله زاویه تصحیح سمت حرکت وسیله را به طور قابل توجهی کاهش می‌دهد. 
واژه‌های کلیدی: وسایل نقلیه زیرآبی خودران، اجتناب از موانع، سونار، یادگیریعمیق، تلفیق آکوستیکی اپتیکی
متن کامل [PDF 1595 kb]   (12 دریافت)    

نکات برجسته مقاله
- بهبود چشمگیر دقت و افزایش فاصله آشکارسازی موانع
- تولید مسیرهای هموارتر با زوایای اصلاح کمتر
- امکان استفاده از سونار با برد متوسط
- ناوبری امن­تر و روان­تر در محیط­ های دریایی پیچیده
- استفاده از نقشه­ های WFM و SFM  برای تسهیل آموزش شبکه
 
نوع مطالعه: مقاله پژوهشي | موضوع مقاله: طراحي، هیدروديناميك و ساخت زيرسطحي
دریافت: 1404/12/26 | پذیرش: 1405/4/6
فایل صوتی چکیده مقاله [MP3 2846 KB]  (3 دریافت)
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