Recent Developments for an Obstacle Avoidance System for a Small AUV
| dc.contributor.author | Horner, Douglas | |
| dc.contributor.author | Yakimenko, Oleg | |
| dc.date | 2007 | |
| dc.date.accessioned | 2013-09-11T22:59:27Z | |
| dc.date.available | 2013-09-11T22:59:27Z | |
| dc.date.issued | 2007 | |
| dc.identifier.citation | Horner. D.P., Yakikemenko, O. "Recent Developments for an Obstacle Avoidance System for a Small AUV", CAMS 2007 Bol Croatia. | |
| dc.identifier.uri | http://hdl.handle.net/10945/36037 | |
| dc.description.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. | en_US |
| dc.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. | en_US |
| dc.title | Recent Developments for an Obstacle Avoidance System for a Small AUV | en_US |
| dc.contributor.department | Mechanical and Aerospace Engineering | |
| dc.subject.author | Obstacle Avoidance, Optimal Control, Navigation, Obstacle Detection | en_US |
