DocumentCode
1974473
Title
Collision avoidance and bottom following of a torpedo-like AUV
Author
Zapata, R. ; Lépinay, P.
Author_Institution
Lab. d´´Inf., de Robotique et de Microelectron., Univ. des Sci. et Tech. du Languedoc, Montpellier, France
Volume
2
fYear
1996
fDate
23-26 Sep 1996
Firstpage
571
Abstract
This paper addresses the problem of the reactive behaviors of underseas robots and more precisely the problems of collision avoidance and bottom following of torpedo-like AUVs. Two cases have been investigated: the first one concerns the local navigation of an AUV moving in a cluttered (unknown obstacles) pipe for it´s inspection. The second one deals with the following of unknown ocean bottoms
Keywords
inspection; marine systems; mobile robots; motion control; navigation; path planning; bottom following; cluttered pipe; collision avoidance; inspection; local navigation; reactive behaviors; torpedo-like AUV; underseas robots; unknown ocean bottoms; Collision avoidance; Computational geometry; Inspection; Mobile robots; Orbital robotics; PD control; Proportional control; Robot sensing systems; Sensor phenomena and characterization; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '96. MTS/IEEE. Prospects for the 21st Century. Conference Proceedings
Conference_Location
Fort Lauderdale, FL
Print_ISBN
0-7803-3519-8
Type
conf
DOI
10.1109/OCEANS.1996.568290
Filename
568290
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