Autor(es): Calado, P ; Rui Gomes ; Nogueira, MB ; Cardoso, J ; Teixeira, P ; Sujit, PB ; João Tasso Sousa
Data: 2011
Origem: Repositório Aberto da Universidade do Porto
Assunto(s): Robótica, Engenharia electrotécnica, electrónica e informática; Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering
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.
