AUV obstacle-avoidance based on information fusion of multi-sensors

This paper presents a method of AUV (Autonomous Underwater Vehicle) obstacle avoidance based on information fusion of multi-sensors. First, the fusion system of AUV is introduced and the probability is assigned to the information of various sensors by analyzing the sensor characteristics. Next, Dempster Shafer's theory of evidence is used to judge whether an obstacle exists ahead of an AUV. Finally, the least squares method is adopted to estimate the position and velocity of the obstacle, thus avoidance strategies are taken according to the kinematics of the obstacle.