The 3-D map building of AUV based on D-S information fusion

摘要

In this paper, a three-dimensional (3-D) map building approach is proposed for path planning with obstacle avoidance of Autonomous Underwater Vehicle (AUV) in the unknown dynamic environment. Firstly, establishing the environment model and sonar model and the sonar readings are converted to probability values. Then, the map data is updated by using D-S information fusion and the 3-D dynamic grid map is built. Finally, illustrate the feasibility of D-S information fusion on map building by comparing the real map and the dynamic map.