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Real-time path planning and
obstacle avoidance for RAIS: an autonomous underwater
vehicle
Antonelli,
G. Chiaverini,
S. Finotello,
R. Schiavon,
R.
Cassino
Univ.;
This paper
appears in: Oceanic Engineering, IEEE Journal
of
On page(s):
216-227
Volume: 26,
Apr
2001
ISSN:
0364-9059
References
Cited: 24
CODEN:
IJOEDY
INSPEC Accession
Number: 6941670
Abstract:
This paper describes a navigation and
guidance system (NGS) with real-time path planning and
obstacle avoidance capabilities that has been developed for
the autonomous underwater vehicle RAIS. The vehicle is
designed to accomplish two missions: pre-deployment survey of
sea bottom, and visual inspection of pipelines. In the first
mission, the NGS must be able to track a predefined path while
avoiding the unplanned occurrence of obstacles. In the second
mission, the NGS must track a pipeline by locally
reconstructing its location from visual information; also in
this case, the unplanned occurrence of obstacles must be
handled. Furthermore, the NGS must properly take into account
the presence of ocean current and some drastic constraints due
to sensor and actuator characteristics. Numerical and
hardware-in-the-loop simulations have been developed to verify
the effectiveness of the proposed NGS
Index Terms:
collision
avoidance navigation remotely operated
vehicles robot
vision underwater
vehicles
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