AUV REDERMOR obstacle detection and avoidance experimental evaluationReport as inadecuate

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

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.

Author: Isabelle Quidu - Alain Hétet - Yann Dupas - Stéphanie Lefèvre -



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