An enhanced obstacle avoiding system for AUV`s

Conference · Sat Dec 31 00:00:00 EST 1994

OSTI ID:398049

Conte, G; Zanoli, S M ^[1]

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1. Univ. of Ancona (Italy)

This paper concerns the development of a sonar-based navigation and guidance system for underwater, unmanned vehicles. In particular, the authors describe and discuss an obstacle avoidance procedure that is capable of dealing with situations involving several obstacles. The main features of the system are the use of a Kalman filter, both for estimating data and for predicting the evolution of the observed scene, and the possibility of working at different levels of data abstraction. The system has shown satisfactory performances in dealing with moving obstacles in general situations.

• OSTI ID: 398049
• Report Number(s): CONF-940409-; ISBN 1-880653-10-9; TRN: IM9649%%257
• Resource Relation: Conference: 4. international conference on offshore and polar engineering, Osaka (Japan), 10-15 Apr 1994; Other Information: PBD: 1994; Related Information: Is Part Of The proceedings of the fourth (1994) international offshore and polar engineering conference. Volume 2; Chung, J.S. [ed.] [Colorado School of Mines, Golden, CO (United States)]; Karal, K. [ed.] [Norwegian Contractors, Stabekk (Norway)]; Koteryama, Wataru [ed.] [Kyushu Univ., Kasuga (Japan)]; PB: 640 p.
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES
NAVIGATIONAL INSTRUMENTS
PERFORMANCE
DESIGN
ROBOTS
UNDERWATER OPERATIONS
SUBMARINES