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* Corresponding author 1 DGA-DET-GESMA - Groupe d-Etudes Sous-Marines de l-Atlantique 2 E3I2 - Extraction et Exploitation de l-Information en Environnements Incertains 3 SHOM - Service Hydrographique et Océanographique de la Marine

Abstract : Military Autonomous Underwater Vehicles AUV shall be able to execute survey missions in both known and unknown environments in order to detect a potential threat. These robots will significantly improve our exploration, analysis and intervention capability and will have a large decisional autonomy. While the primary mission of an AUV is data acquisition and collection up to now commonly done using side scan sonar or a multibeam echosounder, another important task is to guaranty its own security. To do that, it must be able to know in advance its environment, to detect unexpected events, to analyse them, and to react. The paper occurs after the DEVITOBS-06 Détection et EVITement d-OBStacles experiment using two types of sensors mounted on the GESMA Redermor experimental AUV: the forward looking sonar Reson Seabat 8101 with a depression angle of 15° and an echosounders network. It has been divided in three main parts: analysis of the -Obstacle Detection and Avoidance- problem for AUV, information extraction techniques assessment, and discussion about behaviour strategies and mission planning.





Autor: Alain Hétet - Isabelle Quidu - Yann Dupas -

Fuente: https://hal.archives-ouvertes.fr/



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