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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
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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