A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split i...

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Bibliographic Details
Main Authors: Zheping Yan, Jiyun Li, Gengshi Zhang, Yi Wu
Format: Article
Published: MDPI AG 2018-02-01
Online Access:http://www.mdpi.com/1424-8220/18/2/438