Three-Dimensional Feature Reconstruction with Dual Forward Looking Sonars for Unmanned Underwater Vehicle Navigation

Abstract

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 three-dimensional 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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2009
Accession Number
ADA496699

Entities

People

  • Nevin A. Mcchesney

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Energy and Power Technologies
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Autonomous Navigation
  • Autonomous Underwater Vehicles
  • Collision Avoidance
  • Coordinate Systems
  • Detection
  • Global Positioning Systems
  • Grids
  • Guidance
  • Inertial Navigation
  • Kalman Filters
  • Measurement
  • Navigation
  • Probabilistic Models
  • Three Dimensional
  • Underwater Acoustics
  • Unmanned Underwater Vehicles
  • Unmanned Vehicles

Readers

  • Enterprise Information Systems Architecture and Joint Command Capability Interoperability Support.
  • Robotics and Automation.
  • Wave Propagation and Nonlinear Chaotic Dynamics.

Technology Areas

  • Autonomy