Two layers obstacle avoidance algorithm for Autonomous Underwater Vehicle

Boris Braginsk, Serge Karabchevsk, Hugo Guterma

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

2 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 such as cliffs, wrecks and floating mines to improve vehicle survivability. In this study obstacle avoidance algorithm that combining pre-planning and reactive techniques is presented. The approach uses forward looking sonar with image processing for obstacle detection. So it can be used as a logic sensor. The proposed algorithms are focused on horizontal plane obstacle detection and avoidance.

Original languageEnglish
Title of host publication2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
DOIs
StatePublished - 1 Dec 2012
Event2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012 - Eilat, Israel
Duration: 14 Nov 201217 Nov 2012

Publication series

Name2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012

Conference

Conference2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012
Country/TerritoryIsrael
CityEilat
Period14/11/1217/11/12

Keywords

  • AUV
  • Obstacle avoidance
  • Sonar

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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