The problem of avoiding obstacles when navigating near the sea bottom is addressed. A dynamic workspace representation of the environment is performed based on real-time dual frequency scanning sonar information. Suitable filters have been developed so to take into account environmental noise and the presence of false echoes. Real sonar data were used to evaluate the performance of the system. From the settled trials the ability of the system in avoiding obstacles has been verified
Obstacle Avoidance with scanning sonar for bottom navigation / Zanoli, Silvia Maria; Affaitati, F.. - (1999), pp. 537-545. (Intervento presentato al convegno Unmanned Untethered Submersible Technology tenutosi a Durham, (NH), USA nel 23-25 August, 1999).
Obstacle Avoidance with scanning sonar for bottom navigation
ZANOLI, Silvia Maria;
1999-01-01
Abstract
The problem of avoiding obstacles when navigating near the sea bottom is addressed. A dynamic workspace representation of the environment is performed based on real-time dual frequency scanning sonar information. Suitable filters have been developed so to take into account environmental noise and the presence of false echoes. Real sonar data were used to evaluate the performance of the system. From the settled trials the ability of the system in avoiding obstacles has been verifiedI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
