Title :
AUV experiments in obstacle avoidance
Author :
Horner, D.P. ; Healey, A.J. ; Kragelund, S.P.
Author_Institution :
Graduate Sch. of Informational & Operational Sci., Naval Postgraduate Sch., Monterey, CA
Abstract :
Reactive obstacle avoidance (OA) is an important step in attaining greater autonomy in autonomous underwater vehicles (AUV). For AUVs that conduct underwater surveys, avoidance of uncharted obstacles can improve vehicle survivability. This paper discusses initial experiments at the Center for AUV Research in obstacle detection and avoidance using the Naval Postgraduate School ARIES AUV with the Blueview Blazed Array forward looking sonar. It includes a discussion on evaluating OA optimality, autopilot control design and sonar image processing. It concludes with a description of successful results from a recent demonstration
Keywords :
collision avoidance; control system synthesis; geophysical signal processing; motion control; oceanographic equipment; oceanographic techniques; sonar imaging; underwater vehicles; Blueview Blazed Array forward looking sonar; autonomous underwater vehicles; autopilot control design; obstacle detection; reactive obstacle avoidance; sonar image processing; underwater surveys; vehicle survivability; Aerospace engineering; Frequency; Image processing; Marine vehicles; Oceans; Remotely operated vehicles; Sensor arrays; Sonar detection; Sonar navigation; Underwater vehicles;
Conference_Titel :
OCEANS, 2005. Proceedings of MTS/IEEE
Conference_Location :
Washington, DC
Print_ISBN :
0-933957-34-3
DOI :
10.1109/OCEANS.2005.1639962
