Title :
Two layers obstacle avoidance algorithm for Autonomous Underwater Vehicle
Author :
Braginsk, Boris ; Karabchevsk, S. ; Guterma, H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Beer-Sheva, Israel
Abstract :
Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles such as cliffs, wrecks and floating mines to improve vehicle survivability. In this study obstacle avoidance algorithm that combining pre-planning and reactive techniques is presented. The approach uses forward looking sonar with image processing for obstacle detection. So it can be used as a logic sensor. The proposed algorithms are focused on horizontal plane obstacle detection and avoidance.
Keywords :
autonomous underwater vehicles; collision avoidance; image sensors; object detection; sonar imaging; underwater acoustic communication; AUV; autonomous underwater vehicle; horizontal plane obstacle detection; image processing; logic sensor; obstacle avoidance algorithm; obstacle detection; sensor reading; sonar; underwater environments; vehicle survivability; Collision avoidance; Computers; Feature extraction; Field programmable gate arrays; Image edge detection; Sonar detection; AUV; Obstacle avoidance; Sonar;
Conference_Titel :
Electrical & Electronics Engineers in Israel (IEEEI), 2012 IEEE 27th Convention of
Conference_Location :
Eilat
Print_ISBN :
978-1-4673-4682-5
DOI :
10.1109/EEEI.2012.6377000
