Obstacle Avoidance by Unmanned Underwater Vehicle

Abstract:

Paper presents method of obstacle avoidance used in the example of unmanned underwater vehicle. The solution of this problem is divided into stage of: obstacle detecting and shape determination, decision making and control signal generation. The process to avoid an obstacle is presented as iterative model of behavior of dynamic system based on an array of discrete transitions between the successive states in accordance with accepted principles. The obstacle shape is determined basis on its histogram both in the horizontal as well as vertical plane of observation. Every stage of process of obstacle avoidance is described in details and both mathematically as well as by figures documented. At the end there are presented chosen results of simulation research which verify proposed solution.

• Periodical: Applied Mechanics and Materials (Volume 817)
• Pages: 187-196
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.817.187
• Online since: January 2016
• Authors: Andrzej Zak*
• Keywords: Decision Making, Obstacle Avoidance, Obstacle Mapping, Unmanned Underwater Vehicle

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