Obstacle Detection and Avoidance Using Blazed Array Forward Look Sonar

Abstract

The long term goal of this project is to increase the level of autonomy in AUVs as they are being used for more complex missions than mine countermeasures. Part of this increase in autonomy will rely on obstacle detection and avoidance and will require a forward looking sonar (FLS) suitable for small vehicles. In the past year, the NPS Center for AUV Research has mounted a University of Washington Applied Physics Lab (UW:APL) Blazed Array Forward Looking Sonar (FLS) on the NPS ARIES AUV and has conducted several data collection tests in Monterey Bay. The goal of the project is to develop Obstacle Avoidance (OA) algorithms for small AUVs using image analysis in a dynamic real time system for detection and avoidance.

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Document Details

Document Type
Technical Report
Publication Date
Sep 30, 2006
Accession Number
ADA474842

Entities

People

  • Anthony J. Healey
  • D. P. Horner
  • S. P. Kragelund

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Collision Avoidance
  • Control Systems
  • Detection
  • Guidance
  • Low Resolution
  • Navigation
  • Schools
  • Seabed
  • Sonar Transducers
  • Underwater Vehicles
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Aviation Safety and Air Traffic Management