Obstacle Avoidance Using Echo Sounder Sonar

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

Calado, P (Author) Other; Rui Gomes (Author) FEUP; Nogueira, MB (Author) Other; Cardoso, J (Author) Other; Teixeira, P (Author) Other; Sujit, PB (Author) Other; João Tasso Sousa (Author) FEUP

Conference proceedings International

Title: 2011 IEEE - OCEANS SPAIN

Pages: 1-6

IEEE OCEANS Conference

Santander, SPAIN, JUN 06-09, 2011

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 5 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Authenticus ID: P-002-WXX

DOI: 10.1109/oceans-spain.2011.6003585

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6