Furlong, M.E., McPhail, Stephen D. and Pebody, Miles
A New Collision Avoidance System for the Autosub6000 Autonomous Underwater Vehicle.
Proceedings of the International Symposium on Unmanned Untethered Submersible Technology (UUST 2009), Durham, New Hampshire, 23-26 August 2009.
Durham NH, USA,
Autonomous Undersea Systems Institute (AUSI).
Full text not available from this repository.
The recently developed Autosub6000 Autonomous Underwater Vehicle (AUV) is the latest in the Autosub series of AUVs that
have been built at the National Oceanography Centre, Southampton. The previous AUV have been deployed on numerous science missions over the last decade. Autosub6000, with its 6000m depth capability, is currently in demand for deep ocean bathymetric surveys using its Simrad EM2000 multibeam sonar system. However, the terrain that can currently be surveyed is limited due to the lack of an obstacle avoidance system. In order to survey rugged and challenging regions a new obstacle avoidance system is being developed. This system uses a Tritech Seaking mechanically scanned sonar system oriented to scan vertically in front of the AUV to provide details of obstacles as well as changes in terrain. This paper describes the obstacle avoidance approach adopted and outlines its implemenation within Autosub6000. Simulation outputs showing the performance of the system are presented and results from trials of the Tritech Seaking sonar are also given.
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