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Obstacle detection and avoidance for an Autonomous Surface Vehicle using a profiling sonar

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2 Author(s)
Hordur K. Heidarsson ; Robotic Embedded Systems Lab and the Department of Electrical Engineering, University of Southern California, Los Angeles, 90089, USA ; Gaurav S. Sukhatme

We present an experimental study of a mechanically scanned profiling sonar for Autonomous Surface Vehicle (ASV) obstacle detection and avoidance. We extract potential obstacles from echo returns and suggest a scanning strategy for sonar in this application. We demonstrate with simulations (driven by data collected in the field) the potential for an ASV to rely solely on sonar data to navigate and avoid obstacles in a lake and harbor environment.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011