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https://hdl.handle.net/10216/115890| Author(s): | Calado, P Rui Gomes Nogueira, MB Cardoso, J Teixeira, P Sujit, PB João Tasso Sousa |
| Title: | Obstacle Avoidance Using Echo Sounder Sonar |
| Issue Date: | 2011 |
| Abstract: | 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. |
| Subject: | Robótica, Engenharia electrotécnica, electrónica e informática Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering |
| Scientific areas: | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering |
| DOI: | 10.1109/oceans-spain.2011.6003585 |
| URI: | https://repositorio-aberto.up.pt/handle/10216/115890 |
| Source: | 2011 IEEE - OCEANS SPAIN |
| Document Type: | Artigo em Livro de Atas de Conferência Internacional |
| Rights: | openAccess |
| Appears in Collections: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
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