详情

原文传递 AUVFEST 05 Quick Look Report of NPS Activities.

题名：	AUVFEST 05 Quick Look Report of NPS Activities.
作者：	healey, a. j. horner, d. p. kragelund, s. wring, b.
关键词：	sunken ships, closed loop systems, reefs, behavior, unmanned, control, avoidance
摘要：	During the period June 6-16 2005, NPS participated in AUV Fest 2005 held at Keyport, WA. The ARIES vehicle, seen in Figure 2, was used for the first time at these events. ARIES was equipped with a Blazed Array Forward Look Sonar (FLS) in order to demonstrated a dynamic obstacle detection and avoidance behavior that is planned to be implemented in the REMUS vehicles through the SAHRV program. In all, it was a very successful exercise, during which various separate stages of the development were demonstrated and accomplished. The main objective is to direct a UUV to avoid objects in the water column that represent impediments to forward progress. Sub -sea objects such as sea mounds, reefs, and sunken ships represent threats to the current class of small UUV in use. Using a small low power blazed array sonar from Blue View Technologies, forward looking sonar images are collected, analyzed and used to declare the presence of such objects. Not only range, but also height of these objects are determined and passed to the vehicle controller. An appropriate avoidance behavior is then triggered in the vehicle. This closed loop process was developed and demonstrated. / Supplementary Notes: Presented at the AUV Fest 2005 Held 6-16 June 2005 in Keyport, WA. The original document contains color images. / Availability Note: 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：	u0824；13p
报告类型：	科技报告