Recent Developments for an Obstacle Avoidance System for a Small AUV

Abstract

Improvements in high resolution small forward looking sonar (FLS) and computer processing have made it possible to develop an obstacle avoidance system (OAS) for small diameter Autonomous Underwater Vehicles (AUV). An AUV with such a system can maneuver around unanticipated obstacles that may be proud of the ocean floor. This ability can prevent serious damage to the vehicle or the environment. This paper discusses developments in control and computer vision techniques of an OAS designed to vertically avoid obstacles found on the ocean floor. Results are presented from recent in-water testing.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2007
Accession Number
ADA578323

Entities

People

  • Douglas Horner
  • Oleg Yakimenko

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

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

DTIC Thesaurus Topics

  • Abstracts
  • Collision Avoidance
  • Detection
  • Detectors
  • Equations
  • Identification
  • Image Processing
  • Kalman Filters
  • Maneuvers
  • Navigation
  • Seabed
  • Side Looking Sonar
  • Sonar Images
  • Standards
  • Trajectories
  • Two Dimensional
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems