Dynamic Path Planning of Underwater Vehicle Based on Pulse Lidar Profiler

Abstract

In the underwater environment, the speed of light is much faster than that of sonar, so it can be used to sample and detect more intensively in space and high frequency in time. A better strategy is to integrate sonar and lidar into an integrated device. In military affairs, lidar sonar system is used for identification of underwater artificial works and fixed-point blasting. In the civil field, aquaculture, scientific research and sampling, and underwater infrastructure exploration are the main areas. This paper analyzes the application of pulse lidar profiler system integrated with multiple detection methods in the dynamic path planning of underwater vehicle. Three colors of “red, orange, red sauce” were used as the warm color light source group, and three colors of “blue, green, purple” were used as the cold color light source group. Through matrix operation, underwater objects with almost all colors can be quickly reached and superimposed. The speed of sound wave is slow, but the bypass performance is very good, which fully supplements the blind area of light source.