3D Reconstruction with an AUV Mounted Forward Looking Sonar
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Authors
Horner, Douglas
McChesney, Nevin
Masek, Ted
Kragelund, Sean
Subjects
Center for Autonomous Vehicle Research
Advisors
Date of Issue
2009
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Language
Abstract
The paper discusses the use of dual stave forward-looking sonar to build a threedimensional underwater model for navigation in restricted waterways. The sonar normally provides separate horizontal and vertical images but when the information is synthesized into a single three-dimensional model it permits, in certain circumstances, the AUV to plan and carry out a trajectory where no path is otherwise available. As the sonar system is fixed mounted to the AUV body, a trajectory is presented which uses the combined sonar fields-of-view to produce paths that optimize situational understanding for reactive and deliberative obstacle avoidance.
Type
Conference Paper
Description
UUST 2009
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Department
Mechanical and Aerospace Engineering
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Citation
Horner, D.P., McChesney, N., Kragelund, S., Masek, T., “3D Reconstruction with an AUV Mounted Forward Looking Sonar”, UUST 2009, University of New Hampshire, Durham, NH August 2009.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.