Recent Developments for an Obstacle Avoidance System for a Small AUV
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Authors
Horner, Douglas
Yakimenko, Oleg
Subjects
Obstacle Avoidance
Optimal Control
Navigation
Obstacle Detection
Optimal Control
Navigation
Obstacle Detection
Advisors
Date of Issue
2007
Date
2007
Publisher
Language
Abstract
Improvements in high resolution small forward looking sonar (FLS) and computer processing have made it possible to develop an obstacle avoidance system (OAS) for small diameter Autonomous Underwater Vehicles (AUV). An AUV with such a system can maneuver around unanticipated obstacles that may be proud of the ocean floor. This ability can prevent serious damage to the vehicle or the environment. This paper discusses developments in control and computer vision techniques of an OAS designed to vertically avoid obstacles found on the ocean floor. Results are presented from recent in-water testing.
Type
Conference Paper
Description
Series/Report No
Department
Mechanical and Aerospace Engineering
Organization
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NPS Report Number
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Funder
Format
Citation
Horner. D.P., Yakikemenko, O. "Recent Developments for an Obstacle Avoidance System for a Small AUV", CAMS 2007 Bol Croatia.
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.