Title :
A sonar based obstacle avoidance system for AUVs
Author :
Conte, G. ; Zanoli, S.
Author_Institution :
Dipartimento di Elettronica e Autom., Ancona Univ., Italy
Abstract :
In this paper we describe a sonar based, collision avoidance module for autonomous underwater vehicle, developed as part of a more complex navigation and guidance system. Its main features are the use of Kalman filters in evaluating both the motion of the detected obstacles and the risk of collision, and the possibility of working at two different levels of abstraction, according to the characteristics of the situation
Keywords :
Kalman filters; filtering theory; marine systems; mobile robots; navigation; position control; sonar; AUV; Kalman filters; abstraction levels; collision avoidance module; guidance system; navigation; sonar-based obstacle avoidance system; Area measurement; Collision avoidance; Inspection; Layout; Position measurement; Sonar detection; Sonar measurements; Sonar navigation; Time measurement; Underwater vehicles;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1994. AUV '94., Proceedings of the 1994 Symposium on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-7803-1808-0
DOI :
10.1109/AUV.1994.518611
