Obstacle Avoidance Using Echo Sounder Sonar

Detalhes bibliográficos
Autor(a) principal: Calado, P
Data de Publicação: 2011
Outros Autores: Rui Gomes, Nogueira, MB, Cardoso, J, Teixeira, P, Sujit, PB, João Tasso Sousa
Tipo de documento: Livro
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://repositorio-aberto.up.pt/handle/10216/115890
Resumo: 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 obstacle avoidance system with the help of hybrid automata, probabilistic mapping and navigation functions. Simulation results are presented showing the validity of our approach.
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spelling Obstacle Avoidance Using Echo Sounder SonarRobótica, Engenharia electrotécnica, electrónica e informáticaRobótica Robotics, Electrical engineering, Electronic engineering, Information engineeringDeveloping 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 obstacle avoidance system with the help of hybrid automata, probabilistic mapping and navigation functions. Simulation results are presented showing the validity of our approach.20112011-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://repositorio-aberto.up.pt/handle/10216/115890eng10.1109/oceans-spain.2011.6003585Calado, PRui GomesNogueira, MBCardoso, JTeixeira, PSujit, PBJoão Tasso Sousainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T15:26:00Zoai:repositorio-aberto.up.pt:10216/115890Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:23:35.212723Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Obstacle Avoidance Using Echo Sounder Sonar
title Obstacle Avoidance Using Echo Sounder Sonar
spellingShingle Obstacle Avoidance Using Echo Sounder Sonar
Calado, P
Robótica, Engenharia electrotécnica, electrónica e informática
Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering
title_short Obstacle Avoidance Using Echo Sounder Sonar
title_full Obstacle Avoidance Using Echo Sounder Sonar
title_fullStr Obstacle Avoidance Using Echo Sounder Sonar
title_full_unstemmed Obstacle Avoidance Using Echo Sounder Sonar
title_sort Obstacle Avoidance Using Echo Sounder Sonar
author Calado, P
author_facet Calado, P
Rui Gomes
Nogueira, MB
Cardoso, J
Teixeira, P
Sujit, PB
João Tasso Sousa
author_role author
author2 Rui Gomes
Nogueira, MB
Cardoso, J
Teixeira, P
Sujit, PB
João Tasso Sousa
author2_role author
author
author
author
author
author
dc.contributor.author.fl_str_mv Calado, P
Rui Gomes
Nogueira, MB
Cardoso, J
Teixeira, P
Sujit, PB
João Tasso Sousa
dc.subject.por.fl_str_mv Robótica, Engenharia electrotécnica, electrónica e informática
Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering
topic Robótica, Engenharia electrotécnica, electrónica e informática
Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering
description 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 obstacle avoidance system with the help of hybrid automata, probabilistic mapping and navigation functions. Simulation results are presented showing the validity of our approach.
publishDate 2011
dc.date.none.fl_str_mv 2011
2011-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/book
format book
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://repositorio-aberto.up.pt/handle/10216/115890
url https://repositorio-aberto.up.pt/handle/10216/115890
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1109/oceans-spain.2011.6003585
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
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reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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