Obstacle Avoidance While Bottom Following for the REMUS Autonomous Underwater Vehicle

Abstract

Future 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.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2004
Accession Number
ADA436009

Entities

People

  • Anthony J. Healey

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Underwater Vehicles
  • Coefficients
  • Collision Avoidance
  • Collisions
  • Image Processing
  • Motion Planning
  • Navigation
  • Seabed
  • Simulations
  • Trajectories
  • Underwater Vehicles
  • Unmanned Vehicles
  • Vehicles
  • Weighting Functions

Readers

  • Acoustical Oceanography.
  • Computational Modeling and Simulation
  • Robotics and Automation.