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dc.contributor.authorHealey, A. J.
dc.date.accessioned2017-04-25T19:06:56Z
dc.date.available2017-04-25T19:06:56Z
dc.date.issued2004
dc.identifier.citationHealey, A. J.,"Obstacle Avoidance While Bottom Following for the REMUS Autonomous Underwater Vehicle"Proceedings of the IFAC-IAV 2004 Conference, Lisbon, Portugal, July 5-7, 2004
dc.identifier.urihttp://hdl.handle.net/10945/52695
dc.descriptionProceedings of the IFAC-IAV 2004 Conference, Lisbon, Portugal, July 5-7en_US
dc.description.abstractFuture Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will also be required to map and avoid obstacles such as sunken ships and reefs. Following previous work on steering control, this work examines collision avoidance behaviors in bottom following using a hypothetical forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop diving equations that model REMUS behaviors. A two-dimensional forward-looking sonar model with a 20° vertical scan and a 40 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAB simulations. REMUS is a highly responsive vehicle and care has taken to balance pitch and heave response to keep the obstacle to be avoided in sight during the response behavior.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.titleObstacle Avoidance While Bottom Following for the REMUS Autonomous Underwater Vehicleen_US
dc.typePaperen_US


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