| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 723012 | IFAC Proceedings Volumes | 2007 | 7 Pages |
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
