@inproceedings{26681b7f5a6448d3800a4246d23d5a5c,
title = "Two layers obstacle avoidance algorithm for Autonomous Underwater Vehicle",
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.",
keywords = "AUV, Obstacle avoidance, Sonar",
author = "Boris Braginsk and Serge Karabchevsk and Hugo Guterma",
year = "2012",
month = dec,
day = "1",
doi = "10.1109/EEEI.2012.6377000",
language = "English",
isbn = "9781467346801",
series = "2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012",
booktitle = "2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012",
note = "2012 IEEE 27th Convention of Electrical and Electronics Engineers in Israel, IEEEI 2012 ; Conference date: 14-11-2012 Through 17-11-2012",
}