This paper reports on the effort to adapt an existing general purpose collision avoidance algorithm for installation in a specific autonomous underwater vehicle (EAVE). The algorithm operates at two abstraction levels and uses a Kalman technique to filter the data stream. In order to adjust for the coarse five beams image provided by the current sonar device, the avoidance algorithm was augmented with some additional submodules. EAVE runtime environment proved receptive to the importation of the avoidance algorithm and provided some some experience in the area of integrating new behaviors in EAVE.
A Dual Abstraction Level Obstacle Avoidance Module for an Autonomous Underwater Vehicle / Zanoli, Silvia Maria; Chappell, S. G.. - (1995), pp. 317-326. (Intervento presentato al convegno Unmanned Untethered Submersible Technology tenutosi a Durham (NH), USA nel 25-27 September 1995).
A Dual Abstraction Level Obstacle Avoidance Module for an Autonomous Underwater Vehicle
ZANOLI, Silvia Maria;
1995-01-01
Abstract
This paper reports on the effort to adapt an existing general purpose collision avoidance algorithm for installation in a specific autonomous underwater vehicle (EAVE). The algorithm operates at two abstraction levels and uses a Kalman technique to filter the data stream. In order to adjust for the coarse five beams image provided by the current sonar device, the avoidance algorithm was augmented with some additional submodules. EAVE runtime environment proved receptive to the importation of the avoidance algorithm and provided some some experience in the area of integrating new behaviors in EAVE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
