Obstacle avoidance using echo sounder sonar
| Autor: | J. Cardoso, R.M.F. Gomes, Pedro Calado, Pedro V. Teixeira, M. B. Nogueira, P. B. Sujit, João Borges de Sousa |
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| Přispěvatelé: | Faculdade de Engenharia |
| Rok vydání: | 2011 |
| Předmět: |
business.industry
Engenharia electrotécnica electrónica e informática [Ciências da engenharia e tecnologias] Mobile robot Robótica Robotics Electrical engineering Electronic engineering Information engineering Remotely operated underwater vehicle Sonar Robótica Engenharia electrotécnica electrónica e informática Electrical engineering Electronic engineering Information engineering [Engineering and technology] Computer Science::Robotics Echo sounding Geography Obstacle Obstacle avoidance Computer vision Artificial intelligence Underwater business Collision avoidance |
| Zdroj: | OCEANS 2011 IEEE - Spain. |
| DOI: | 10.1109/oceans-spain.2011.6003585 |
| Popis: | Developing obstacle avoidance algorithms for low cost Autonomous Underwater Vehicles using single beam returned echo sounder sonar is a difficult task. In this paper, we propose an intelligent obstacle avoidance algorithm that maps the obstacle, avoids it with a guarantee that it will not get stuck and efficiently traverses a path towards the destination using navigation functions. We present a complete obstacle avoidance system with the help of hybrid automata, probabilistic mapping and navigation functions. Simulation results are presented showing the validity of our approach. |
| Databáze: | OpenAIRE |
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