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Obstacle Avoidance Using Echo Sounder Sonar

Calado, P; Rui Gomes; Nogueira, MB; Cardoso, J; Teixeira, P; Sujit, PB; João Tasso Sousa

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 obstacl...

Date: 2011 | Origin: Repositório Aberto da Universidade do Porto

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