AUV obstacle-avoidance based on information fusion of multi-sensors

Author

Rubo, ZHANG ; Guochang, Gu ; Guoyin, Zhang

Author_Institution

Dept. of Comput., Harbin Eng. Univ., China

Volume

2

fYear

1997

fDate

28-31 Oct 1997

Firstpage

1381

Abstract

This paper presents a method of AUV (Autonomous Underwater Vehicle) obstacle avoidance based on information fusion of multi-sensors. First, the fusion system of AUV is introduced and the probability is assigned to the information of various sensors by analyzing the sensor characteristics. Next, Dempster Shafer´s theory of evidence is used to judge whether an obstacle exists ahead of an AUV. Finally, the least squares method is adopted to estimate the position and velocity of the obstacle, thus avoidance strategies are taken according to the kinematics of the obstacle

Keywords

inference mechanisms; least squares approximations; marine systems; path planning; position control; probability; sensor fusion; uncertainty handling; vehicles; Dempster Shafer theory; autonomous underwater vehicle; information fusion; kinematics; least squares method; multisensor fusion; obstacle avoidance; obstacle position; obstacle velocity; probability; theory of evidence; Computer networks; Ethernet networks; Information analysis; Kinematics; Least squares methods; Network servers; Path planning; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Sonar detection; Sun; Underwater vehicles; Workstations;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

0-7803-4253-4

Type

conf

DOI

10.1109/ICIPS.1997.669232

Filename

669232