NDLI: Mapping and obstacle avoidance using multi-range sonar for BSA-AUV: Methodology and lake trial

Content Provider	IEEE Xplore Digital Library
Author	Zheping Yan Zhi Zhao Dongnan Chi Tao Chen
Copyright Year	2011
Description	Author affiliation: College of Automation, Harbin Engineering University, China 150001 (Zheping Yan; Zhi Zhao; Dongnan Chi; Tao Chen)
Abstract	As the autonomous underwater vehicle (AUV) are considered for a wider variety of military and commercial application. Effective obstacle avoidance schemes are essential to the success missions, especially in offshore environment. Response time to a threat or incident for coastline security is an area needing improvement. Classical mapping and obstacle avoidance algorithm are too complex to be applied real-time. This paper proposes a new rapid technique based on fuzzy theory. The avoidance system is divided into some subsystem. Each of them is a fuzzy system. The AUV in a trial is equipped with three forward-looking range sonar. Comparing to multi-beam sonar, the range sonar is credible but can provide only a single range to the obstacle that is limited for decision. Thus, it is necessary to build the map in unknown environment. Min square fitting is proposed in the mapping to redeem the shortage of Haugh transform. The algorithm is validated in the lake trial.
Starting Page	1
Ending Page	6
File Size	1050050
Page Count	6
File Format	PDF
ISBN	9781457714276
e-ISBN	9780933957398
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Sonar Collision avoidance Fitting Vehicles Lakes Computers Real time systems Fuzzy Autonomous Underwater Vehicle Mapping Obstacle Avoidance
Content Type	Text
Resource Type	Article

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