Proceedings ArticleDOI
A sonar based obstacle avoidance system for AUVs
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TLDR
A sonar based, collision avoidance module for autonomous underwater vehicle, developed as part of a more complex navigation and guidance system, that uses Kalman filters in evaluating both the motion of the detected obstacles and the risk of collision.Abstract:
In this paper we describe a sonar based, collision avoidance module for autonomous underwater vehicle, developed as part of a more complex navigation and guidance system. Its main features are the use of Kalman filters in evaluating both the motion of the detected obstacles and the risk of collision, and the possibility of working at two different levels of abstraction, according to the characteristics of the situation.read more
Citations
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Proceedings ArticleDOI
Obstacle detection by a forward looking sonar integrated in an autonomous underwater vehicle
TL;DR: A low-cost obstacle detection system that can be easily attached to the existing FAU platforms, greatly improving the system safety and reliability of an AUV operation in high threat areas is explored.
Proceedings ArticleDOI
A vision system for underwater real-time control tasks
TL;DR: In-progress results in the development of a computer vision system capable of automatically detecting and tracking a submarine cable are described, using vision as the main source of information and producing results in real time.
Journal ArticleDOI
Review of Collision Avoidance and Path Planning Algorithms Used in Autonomous Underwater Vehicles
TL;DR: A structured review of simulations and practical implementations of collision-avoidance and path-planning algorithms in autonomous underwater vehicles (AUVs) together with a comparison of the difficulties encountered during simulations and their practical implementation.
Proceedings ArticleDOI
Development of a Multi-Platform Obstacle Avoidance System for Autonomous Underwater Vehicles
TL;DR: The OAS and its components, its integration within the OCS, and its interaction with the preexisting on-board autonomy and guidance systems when dealing with collisions and obstacles in the context of autonomous navigation are described.
Journal ArticleDOI
A Sonar Based Obstacle Avoidance Module for Application On AUVs
TL;DR: A Collision Avoidance Module to be integrated into a sonar-based navigation and mapping System for guidance and control of autonomous underwater vehicles employs a Kalman filter, for dealing with the presence of uncertainty in the sensory data.
References
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Journal ArticleDOI
Sonar-based real-world mapping and navigation
TL;DR: In this article, a sonar-based mapping and navigation system for an autonomous mobile robot operating in unknown and unstructured environments is described, where range measurements from multiple points of view are integrated into a sensor level sonar map, using a robust method that combines the sensor information in such a way as to cope with uncertainties and errors in the data.
Proceedings ArticleDOI
Simultaneous map building and localization for an autonomous mobile robot
TL;DR: Discusses a significant open problem in mobile robotics: simultaneous map building and localization, which the authors define as long-term globally referenced position estimation without a priori information.
Book
Sonar-based real-world mapping and navigation
TL;DR: A sonar-based mapping and navigation system developed for an autonomous mobile robot operating in unknown and unstructured environments is described, which uses sonar range data to build a multileveled description of the robot's surroundings.
Proceedings ArticleDOI
Navigation and control of a mobile robot among moving obstacles
TL;DR: In this article, a probabilistic approach to deal with collision avoidance under uncertainty is proposed, where the uncertainties both in the position of a moving obstacle and the error of the measurements are normally distributed.