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