OGM Based Real-time Obstacle Detection and Avoidance using Multibeam FLS

This paper presents an obstacle detection and avoidance algorithm based on OGM (occupancy grid map) method and its experimental studies. At each time step (5Hz), given the current frame of FLS (forward looking sonar) image, each of its cloud point is transformed into the reference frame and upgrade the density of the grid where the point is located. During this upgrade, weights were applied to both the current density of the grid and the cloud point intensity. With this OGM, each grid whose density surpass certain threshold is taken as obstacle and counted in the path planning using general potential field method. A series of experimental studies have been carried out in the sea port environment, whereas we can investigate and analysis the effects of the design parameters in both of OGM construction and obstacle avoidance algorithms. This paper shows some of these preliminary results.