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
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;
Conference_Titel :
OCEANS '96. MTS/IEEE. Prospects for the 21st Century. Conference Proceedings
Conference_Location :
Fort Lauderdale, FL
Print_ISBN :
0-7803-3519-8
DOI :
10.1109/OCEANS.1996.568290
