AUV Experiments in Obstacle Avoidance

Abstract

Reactive Obstacle Avoidance "OA" is an important step in attaining greater autonomy in Autonomous Underwater Vehicles "AUV". For AUVs that conduct underwater surveys, avoidance of uncharted obstacles can improve vehicle survivability. This paper discusses initial experiments at the Center for AUV Research in obstacle detection and avoidance using the Naval Postgraduate School ARIES AUV with the Blueview Blazed Array forward looking sonar. It includes a discussion on evaluating OA optimality, autopilot control design and sonar image processing. It concludes with a description of successful results from a recent demonstration.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2005
Accession Number
ADA474887

Entities

People

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

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Automatic Pilots
  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Collision Avoidance
  • Detection
  • Frequency
  • Image Processing
  • Images
  • Inertial Measurement Units
  • Measurement
  • Naval Warfare
  • Navigation
  • Seabed
  • Sonar Images
  • Underwater Vehicles
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Organizational Process Management (OPM).
  • Robotics and Automation.