AUV real-time acoustic vertical plane obstacle detection and avoidance

Serge Karabchevsky, Boris Braginsky, Hugo Guterman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

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.

Original languageEnglish
Title of host publication2012 IEEE/OES Autonomous Underwater Vehicles, AUV 2012
DOIs
StatePublished - 1 Dec 2012
Event2012 IEEE/OES Autonomous Underwater Vehicles, AUV 2012 - Southampton, United Kingdom
Duration: 24 Sep 201227 Sep 2012

Publication series

Name2012 IEEE/OES Autonomous Underwater Vehicles, AUV 2012

Conference

Conference2012 IEEE/OES Autonomous Underwater Vehicles, AUV 2012
Country/TerritoryUnited Kingdom
CitySouthampton
Period24/09/1227/09/12

Keywords

  • AUV
  • Obstacle avoidance
  • Sonar

Fingerprint

Dive into the research topics of 'AUV real-time acoustic vertical plane obstacle detection and avoidance'. Together they form a unique fingerprint.

Cite this