Three-dimensional feature reconstruction with dual forward looking sonars for unmanned underwater vehicle navigation
McChesney, Nevin A.
MetadataShow full item record
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.
Approved for public release, distribution unlimited