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25 February 1987 Obstacle Avoidance And Navigational Sensing For An Autonomous Underwater Vehicle
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Proceedings Volume 0727, Mobile Robots I; (1987)
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States
This paper addresses the critical issues of sense acquisition and sense analysis, using multiple Obstacle Avoidance (OA) sensors, for Autonomous Underwater Vehicles (AUVs). Currently, an AUV research and development testbed is being engineered at Martin Marietta Baltimore Aerospace, and the pertinent research on OA sensing that may be applied to such a testbed is presented. The complexities of relevant and conventional navigation systems for undersea vehicles are also discussed. Using a multitude of sensors and the Zonal-Spot Environmental Analysis (ZSEA) sensing technique, the spatial scenarios are characterized cogently by amalgamating the sensor information to form a description of the external world, which in turn are preserved in a world model database. The ZSEA sensing strategy performs sensor-level processes to recognize obstacles with certain levels of surety, based on apriori semantic data, and thereby provides safer and more efficient path planning capabilities to the AUV. Furthermore, the ZSEA sensing strategy ameliorates sensory deprivation and paves the way for the incremental enhancement of the control process at the higher levels without having to modify the lower servocontrol levels.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
A. M. Chande and K. M. Noon "Obstacle Avoidance And Navigational Sensing For An Autonomous Underwater Vehicle", Proc. SPIE 0727, Mobile Robots I, (25 February 1987);

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