OGM-Based Real-Time Obstacle Detection and Avoidance Using a Multi-beam Forward Looking Sonar

Autonomous underwater vehicles (AUVs) have a limited bandwidth for real-time communication, limiting rapid responses to unexpected obstacles. This study addressed how AUVs can navigate to a target without a pre-existing obstacle map by generating one in real-time and avoiding obstacles. This paper p...

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Bibliographic Details

Published in:	한국해양공학회지
Main Authors:	Han-Sol Jin, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Ji-Hong Li
Format:	Article
Language:	English
Published:	The Korean Society of Ocean Engineers 2024-08-01
Subjects:	autonomous underwater vehicle (auv) obstacle detection and avoidance occupancy grid map (ogm) potential field method multi-beam forward-looking sonar
Online Access:	https://doi.org/10.26748/KSOE.2024.057