Obstacle Detection and Avoidance Using Blazed Array Forward Look Sonar

摘要

The long term goal of this project is to increase the level of autonomy in AUVs as they are being used for more complex missions than mine countermeasures. Part of this increase in autonomy will rely on obstacle detection and avoidance and will require a forward looking sonar (FLS) suitable for small vehicles. In the past year, the NPS Center for AUV Research has mounted a University of Washington Applied Physics Lab (UW:APL) Blazed Array Forward Looking Sonar (FLS) on the NPS ARIES AUV and has conducted several data collection tests in Monterey Bay. The goal of the project is to develop Obstacle Avoidance (OA) algorithms for small AUVs using image analysis in a dynamic real time system for detection and avoidance.