dc.contributor.author | Grefstad, Ørjan | |
dc.contributor.author | Schjølberg, Ingrid | |
dc.date.accessioned | 2022-03-21T14:15:23Z | |
dc.date.available | 2022-03-21T14:15:23Z | |
dc.date.created | 2019-01-19T14:34:47Z | |
dc.date.issued | 2018 | |
dc.identifier.citation | 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV) | en_US |
dc.identifier.issn | 1522-3167 | |
dc.identifier.uri | https://hdl.handle.net/11250/2986577 | |
dc.description.abstract | Collision avoidance is one of the main challenges in the field of autonomous underwater vehicles (AUV). In this paper a method for detecting obstacles is proposed, using a single-beam mechanically scanning sonar, including planning of an optimal path around the obstacles. Obstacle detection is achieved with an inverse-sonar model updating a vehicle-fixed occupancy grid. A new and obstacle-free path is planned using Voronoi diagrams and Dijkstras algorithm. The path is smoothed using Fermats spiral and a line of sight-guidance system with a time-varying lookahead-distance as guidance. The method is implemented and a full-scale test is performed from IKMs onshore control room on a remotely operated vehicle (ROV) operating at Statoils Snorre B oil field on the Norwegian Continental Shelf. The technology is applicable to ROVs and AUVs in underwater operations. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.title | Navigation and collision avoidance of underwater vehicles using sonar data | en_US |
dc.type | Journal article | en_US |
dc.type | Peer reviewed | en_US |
dc.description.version | acceptedVersion | en_US |
dc.rights.holder | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.source.journal | IEEE / OES Autonomous Underwater Vehicles. Proceedings | en_US |
dc.identifier.doi | 10.1109/AUV.2018.8729813 | |
dc.identifier.cristin | 1660907 | |
cristin.unitcode | 194,64,20,0 | |
cristin.unitname | Institutt for marin teknikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |