Title :
AUV (Redermor) Obstacle Detection and Avoidance Experimental Evaluation
Author :
Quidu, I. ; Hétet, A. ; Dupas, Y. ; Lefévre, S.
Author_Institution :
Ecole Nat. des Etudes et Tech. de l´´Armement, Brest
Abstract :
Autonomous underwater vehicles (AUV) are expected to perform survey missions in both known and unknown environments. While the primary mission of an AUV is data collection, generally achieved with a sidescan sonar or a multibeam echosounder, another key task is to guaranty its own security. This paper deals with the problem of obstacle detection and avoidance by means of a forward looking sonar (FLS) mounted on the GESMA Redermor experimental AUV.
Keywords :
collision avoidance; mobile robots; object detection; oceanographic equipment; remotely operated vehicles; sonar target recognition; underwater vehicles; GESMA Redermor experimental AUV; autonomous underwater vehicles; forward looking sonar; multibeam echosounder; object detection; obstacle avoidance; obstacle detection; security; sidescan sonar; sonar target recognition; survey missions; Acoustic signal detection; Data mining; Data security; Marine animals; Object detection; Sonar detection; Underwater structures; Underwater tracking; Underwater vehicles; Vehicle detection; AUV; forward looking sonar; sonar target recognition; underwater object detection and avoidance;
Conference_Titel :
OCEANS 2007 - Europe
Conference_Location :
Aberdeen
Print_ISBN :
978-1-4244-0635-7
Electronic_ISBN :
978-1-4244-0635-7
DOI :
10.1109/OCEANSE.2007.4302304
