Research Summaries

Back Obstacle Avoidance Using Forward Look Sonar

Fiscal Year 2010
Division Graduate School of Engineering & Applied Science
Department Mechanical & Aerospace Engineering
Investigator(s) Horner, Douglas P.
Sponsor Office of Naval Research (Navy)
Summary The objective of this research is to develop algorithms for autonomous, real-time obstacle avoidance by unmanned vehicles using forward looking
sonar. Components of this work include:
1) field testing the sonar in operationally-relevant environments
2) developing probabilistic sensor models from collected sonar data,
3) developing image-processing techniques to detect, localize, and map obstacles posing a hazard to navigation
4) generating dynamically-feasible obstacle avoidance trajectories, arid
5) designing control laws for robust path following.
Keywords
Publications Publications, theses (not shown) and data repositories will be added to the portal record when information is available in FAIRS and brought back to the portal
Data Publications, theses (not shown) and data repositories will be added to the portal record when information is available in FAIRS and brought back to the portal