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A New Concept for an Obstacle Avoidance System for the AUV "SLOCUM Glider" Operation under Ice
February 26, 2017 Β· Declared Dead Β· π OCEANS 2009-EUROPE
"No code URL or promise found in abstract"
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Authors
Mike Eichhorn
arXiv ID
1702.08106
Category
cs.RO: Robotics
Citations
32
Venue
OCEANS 2009-EUROPE
Last Checked
6 months ago
Abstract
This paper presents a concept for a control System for an autonomous underwater vehicle under ice using a "SLOCUM" underwater glider. The project concept, the separate working tasks for the next one-and-a-half years and the first results will be presented. In this context the structure of the obstacle avoidance system and a simulator structure with a sensor and environment simulation as well as the interfaces to the glider hardware will be discussed. As a first result of the main research, a graph-based algorithm for the path planning in a time-varying environment (variable ocean field, moving obstacles) will be described.
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