Three-dimensional feature reconstruction with dual forward looking sonars for unmanned underwater vehicle navigation
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Authors
McChesney, Nevin A.
Subjects
Advisors
Cristi, Roberto
Horner, Doug
Date of Issue
2009-03
Date
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
Unmanned Underwater Vehicles frequently rely on two-dimensional sensors for information about their surroundings. These sensors do not provide adequate information for obstacle avoidance in cluttered maritime environments. To address that issue, a threedimensional reconstruction of the environment utilizing occupancy grids and a prototype forward looking sonar will be considered. Providing the vehicle with three-dimensional views of the environment will allow for optimal route planning and an increase in successful missions in complex environments.
Type
Thesis
Description
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
xvi, 65 p. : ill. ;
Citation
Distribution Statement
Approved for public release; distribution is unlimited.