Recent Developments for an Obstacle Avoidance System for a Small AUV
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.