@inproceedings{ca88040a5acd48be8bb01158e65cce47,
title = "AUV real-time acoustic vertical plane obstacle detection and avoidance",
abstract = "Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles and to adapt to changes in the ocean floor terrain. A typical mission for an AUV is to inspect a given area using a side scan. It is crucial to maintain a straight line course during the inspection in order to ensure proper side scan sonar operation. This limits the obstacle avoidance to only the vertical plane. In this study, a real-time obstacle detection and avoidance algorithm that uses vertical plane oriented forward looking sonar is outlined. Experimental results that demonstrate the performance of the proposed method are presented.",
keywords = "AUV, Obstacle avoidance, Sonar",
author = "Serge Karabchevsky and Boris Braginsky and Hugo Guterman",
year = "2012",
month = dec,
day = "1",
doi = "10.1109/AUV.2012.6380750",
language = "English",
isbn = "9781457720567",
series = "2012 IEEE/OES Autonomous Underwater Vehicles, AUV 2012",
booktitle = "2012 IEEE/OES Autonomous Underwater Vehicles, AUV 2012",
note = "2012 IEEE/OES Autonomous Underwater Vehicles, AUV 2012 ; Conference date: 24-09-2012 Through 27-09-2012",
}