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AUV Experiments in Obstacle Avoidance.
| 题名： | AUV Experiments in Obstacle Avoidance. |
| 作者： | horner, d. p. healey, a. j. kragelund, s. p. |
| 关键词： | image processing, survivability, automatic pilots, self operation, symposia |
| 摘要： | Reactive Obstacle Avoidance 'OA' is an important step in attaining greater autonomy in Autonomous Underwater Vehicles 'AUV'. For AUVs that conduct underwater surveys, avoidance of uncharted obstacles can improve vehicle survivability. This paper discusses initial experiments at the Center for AUV Research in obstacle detection and avoidance using the Naval Postgraduate School ARIES AUV with the Blueview Blazed Array forward looking sonar. It includes a discussion on evaluating OA optimality, autopilot control design and sonar image processing. It concludes with a description of successful results from a recent demonstration. / Supplementary Notes: Proceedings of the IEEE Oceans 2005 Conference, September 18-23, 2005. The original document contains color images. / Availability Note: Product reproduced from digital image. Order this product from NTIS by: phone at 1-800-553-NTIS (U.S. customers); (703)605-6000 (other countries); fax at (703)605-6900; and email at orders@ntis.gov. NTIS is located at 5285 Port Royal Road, Springfield, VA, 22161, USA. |
| 总页数： | u0808；8p |
| 报告类型： | 科技报告 |
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