Design and implementation of a collision avoidance system for the NPS Autonomous Underwater Vehicle (AUV II) utilizing ultrasonic sensors.
Loading...
Authors
Floyd, Charles Alan
Subjects
Autonomous underwater vehicle (AUV)
sonar
collision avoidance
graphical simulation
ray-tracing
least-squares fit
model matching
sonar
collision avoidance
graphical simulation
ray-tracing
least-squares fit
model matching
Advisors
Kanayama, Yutaka
Date of Issue
1991-09
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The recognition of underwater objects and obstacles by sonar has been explored in
many forms, particularly through the use of high-resolution imaging sonar systems. This
work explores a method of providing real-time obstacle avoidance and navigational
position updating for an Autonomous Underwater Vehicle (AUV) by applying regression
analysis and geometric interpretation to sonar range data obtained from a low-cost, lowresolution,
fixed-beam sonar. The algorithm utilized by this method first develops a leastsquares
fit for sonar range data in a 2-D manner. The parameters developed by this method
are then compared to an environmental model for position identification. If no match is
achieved, then by applying the known geometry of the acoustic signal, an estimate for a 3-
D surface is derived. This derived 3-D surface is then added to the environmental model to
enable accurate path planning and post-mission analysis information. This method is
currently implemented on an operational AUV operating in a well-defined orthogonal
environment at NPS. The paper also discusses the simulation of the sonar systems using a
ray tracing technique in a real-time dynamic graphical simulation implemented on a Silicon
Graphics IRIS workstation.
Type
Thesis
Description
Series/Report No
Department
Computer Science
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
121 p.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.