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dc.contributor.authorHorner, Douglas
dc.contributor.authorYakimenko, Oleg
dc.date2007
dc.date.accessioned2013-09-11T22:59:27Z
dc.date.available2013-09-11T22:59:27Z
dc.date.issued2007
dc.identifier.citationHorner. D.P., Yakikemenko, O. "Recent Developments for an Obstacle Avoidance System for a Small AUV", CAMS 2007 Bol Croatia.
dc.identifier.urihttp://hdl.handle.net/10945/36037
dc.description.abstractImprovements 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.rightsThis 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.titleRecent Developments for an Obstacle Avoidance System for a Small AUVen_US
dc.contributor.departmentMechanical and Aerospace Engineering
dc.subject.authorObstacle Avoidance, Optimal Control, Navigation, Obstacle Detectionen_US


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