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A sonar based obstacle avoidance system for AUVs

By: Zanoli, S.; Conte, G.;

1994 / IEEE / 0-7803-1808-0


This item was taken from the IEEE Periodical ' A sonar based obstacle avoidance system for AUVs ' In this paper we describe a sonar based, collision avoidance module for autonomous underwater vehicle, developed as part of a more complex navigation and guidance system. Its main features are the use of Kalman filters in evaluating both the motion of the detected obstacles and the risk of collision, and the possibility of working at two different levels of abstraction, according to the characteristics of the situation.