Obstacle Detection and Avoidance for an Autonomous Surface Vehicle using a Profiling Sonar

被引：0

作者：

Heidarsson, Hordur K. ^{[1
]}

Sukhatme, Gaurav S. ^{[1
]}

机构：

[1] Univ So Calif, Robot Embedded Syst Lab, Los Angeles, CA 90089 USA

来源：

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present an experimental study of a mechanically scanned profiling sonar for Autonomous Surface Vehicle (ASV) obstacle detection and avoidance. We extract potential obstacles from echo returns and suggest a scanning strategy for sonar in this application. We demonstrate with simulations (driven by data collected in the field) the potential for an ASV to rely solely on sonar data to navigate and avoid obstacles in a lake and harbor environment.

引用

页数：6

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