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A new concept for an obstacle avoidance system for the AUV “SLOCUM glider” operation under ice

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1 Author(s)
Mike Eichhorn ; Institute for Ocean Technology, National Research Council Canada, Arctic Avenue, P.O. Box 12093, St. John's, Newfoundland A1B 3T5, Canada

This paper presents a concept for a control system for an autonomous underwater vehicle under ice using a ldquoSLOCUMrdquo 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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Date of Conference:

11-14 May 2009