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Collision Avoidance for an Autonomous Underwater Vehicle

Flygare, Helena (1995) In MSc Theses
Department of Automatic Control
Abstract
This Master Thesis project is a pilot study in developing a collision avoidance function for an autonomous underwater vehicle, also called AUV. A collision avoidance function is necessary to ensure safe operation of an AUV. The AUV gets information about the surroundings through an active sonar. The image from the sonar has to be processed to extract information about the environment, e.g., detection of obstacles. If there are any obstacles in the AUV's way, the collision avoidance function has to make decisions to elude a collision. <br><br> A literature study of sonar system, path planning and collision avoidance functions has been done. A summary of the literature study is presented. A design approach for collision avoidance in an AUV... (More)
This Master Thesis project is a pilot study in developing a collision avoidance function for an autonomous underwater vehicle, also called AUV. A collision avoidance function is necessary to ensure safe operation of an AUV. The AUV gets information about the surroundings through an active sonar. The image from the sonar has to be processed to extract information about the environment, e.g., detection of obstacles. If there are any obstacles in the AUV's way, the collision avoidance function has to make decisions to elude a collision. <br><br> A literature study of sonar system, path planning and collision avoidance functions has been done. A summary of the literature study is presented. A design approach for collision avoidance in an AUV is given. To minimize the energy consumption and the risk of a collision, a three level operation is suggested. The first level plans a global path, the second level plans a local path through the obstacles in the sonar image, and the third level generates a pure reflexive action to avoid a collision with unforeseen obstacles. <br><br> A simulation environment is built up containing the AUV dynamics, an autopilot, a simple sonar model and an implementation of a collision avoidance function of the third level. (Less)
Please use this url to cite or link to this publication:
author
Flygare, Helena
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
autonomous underwater vehicle, AUV, collision avoidance, path planning, sonar
publication/series
MSc Theses
report number
TFRT-5545
ISSN
0280-5316
language
English
id
8848855
date added to LUP
2016-03-24 18:16:36
date last changed
2016-03-24 18:16:36
@misc{8848855,
  abstract     = {This Master Thesis project is a pilot study in developing a collision avoidance function for an autonomous underwater vehicle, also called AUV. A collision avoidance function is necessary to ensure safe operation of an AUV. The AUV gets information about the surroundings through an active sonar. The image from the sonar has to be processed to extract information about the environment, e.g., detection of obstacles. If there are any obstacles in the AUV's way, the collision avoidance function has to make decisions to elude a collision. <br><br> A literature study of sonar system, path planning and collision avoidance functions has been done. A summary of the literature study is presented. A design approach for collision avoidance in an AUV is given. To minimize the energy consumption and the risk of a collision, a three level operation is suggested. The first level plans a global path, the second level plans a local path through the obstacles in the sonar image, and the third level generates a pure reflexive action to avoid a collision with unforeseen obstacles. <br><br> A simulation environment is built up containing the AUV dynamics, an autopilot, a simple sonar model and an implementation of a collision avoidance function of the third level.},
  author       = {Flygare, Helena},
  issn         = {0280-5316},
  keyword      = {autonomous underwater vehicle,AUV,collision avoidance,path planning,sonar},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Collision Avoidance for an Autonomous Underwater Vehicle},
  year         = {1995},
}