DocumentCode :
2570233
Title :
A collision avoidance controller for autonomous underwater vehicles
Author :
Williams, Glen ; Lagace, Glenn ; Woodfin, Alfred
Author_Institution :
Dept. of Comput. Sci., Texas A&M Univ., College Station, TX, USA
fYear :
1990
fDate :
5-6 Jun 1990
Firstpage :
206
Lastpage :
212
Abstract :
A 3D collision avoidance controller for an autonomous underwater vehicle (AUV) that uses a forward-looking high-frequency active sonar is described. Multiple objects are differentiated by clustering sonar returns, and Kalman filters are then used to track both stationary and moving obstacles. A minimum safe distance must be maintained between the AUV and any obstacle, and a modified potential field is used to determine appropriate maneuvers. The merit function which defines this potential field is based on obstacle bearing, distance, and visit count, as well as the AUV heading, the depth, and the direction of the goal
Keywords :
Kalman filters; computerised pattern recognition; marine systems; position control; sonar; transport computer control; 3D collision avoidance controller; Kalman filters; autonomous underwater vehicles; forward-looking high-frequency active sonar; multiple object differentiation; obstacle bearing; obstacle distance; obstacle visit count; sonar returns clustering; Acoustic noise; Collision avoidance; Frequency; Logic; Noise level; Sonar detection; Sonar measurements; Target tracking; Underwater vehicles; Vehicle safety;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1990. AUV '90., Proceedings of the (1990) Symposium on
Conference_Location :
Washington, DC
Type :
conf
DOI :
10.1109/AUV.1990.110458
Filename :
110458
Link To Document :
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