Download or read book Real time Underwater Obstacle Detection Using Forward Looking Sonar and FPGA written by Serge Karabchevsky and published by . This book was released on 2011 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Obstacle Detection and Avoidance Using Blazed Array Forward Look Sonar written by and published by . This book was released on 2006 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt: The long term goal of this project is to increase the level of autonomy in AUVs as they are being used for more complex missions than mine countermeasures. Part of this increase in autonomy will rely on obstacle detection and avoidance and will require a forward looking sonar (FLS) suitable for small vehicles. In the past year, the NPS Center for AUV Research has mounted a University of Washington Applied Physics Lab (UW:APL) Blazed Array Forward Looking Sonar (FLS) on the NPS ARIES AUV and has conducted several data collection tests in Monterey Bay. The goal of the project is to develop Obstacle Avoidance (OA) algorithms for small AUVs using image analysis in a dynamic real time system for detection and avoidance.

Download or read book Obstacle Detection by a Forward Looking Sonar Integrated in an Autonomous Underwater Vehicle written by Antoine Martin and published by . This book was released on 2000 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by and published by . This book was released on 2002 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two-dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Lynn Fodrea and published by . This book was released on 2002 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two-dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Lynn R. Fodrea and published by . This book was released on 2002-12 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward- looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two- dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Download or read book Obstacle Avoidance While Bottom Following for the REMUS Autonomous Underwater Vehicle written by and published by . This book was released on 2004 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will also be required to map and avoid obstacles such as sunken ships and reefs. Following previous work on steering control, this work examines collision avoidance behaviors in bottom following using a hypothetical forward-looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop diving equations that model REMUS behaviors. A two-dimensional forward-looking sonar model with a 20 vertical scan and a 40 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAB simulations. REMUS is a highly responsive vehicle and care has taken to balance pitch and heave response to keep the obstacle to be avoided in sight during the response behavior.

Download or read book Collaborative Vehicles in Future Naval Missions Obstacle Detection and Avoidance written by and published by . This book was released on 2006 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this Keynote paper, the authors attempt to provide some overarching view of the needs for vehicle collaboration based on future Naval missions. Collaboration between differing types of autonomous vehicle, surface, ground, aerial and underwater will be required to achieve the utility in operations promised by the concepts to date. At NPS, we are also working on obstacle detection and avoidance for small AUVs which is a subject also discussed here. Recent advances in the development of low cost forward looking sonar arrays, has enabled the class of small Unmanned Underwater Vehicles to exhibit a capability for obstacle detection and avoidance. At NPS, the authors have studied the problems involved both using simulation models and through in water experimentation and validation. This paper reviews the concept of obstacle detection using a small "Blazed Array" forward looking sonar "FLS", illustrates the techniques used to analyze images obtained from an FLS, and perform threat assessment. The implementation of an avoidance controller in the NPS ARIES vehicle will be described along with a discussion of methodologies for vertical plane avoidance maneuvering. One particular strategy has been implemented and tested in the Underwater Test Range at Keyport, WA. The experiments performed will be discussed and analyzed. We show that one of the problems encountered arises when parts of the seabed are occluded from the sonar view. This leads to the notion of an uncertainty map being obtained from the FLS and used to drive the vertical response of the vehicle. Occlusion maps are built from the FLS data, and used to provide added maneuvering commands based on uncertainty. Vehicle response lags, normally a consideration with normal avoidance commands are mitigated using the FLS capability to look ahead.

Download or read book Underwater Object Detection and Classification written by Assaf Yosef Livne and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book AUV Experiments in Obstacle Avoidance written by and published by . This book was released on 2005 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: Reactive Obstacle Avoidance "OA" is an important step in attaining greater autonomy in Autonomous Underwater Vehicles "AUV". For AUVs that conduct underwater surveys, avoidance of uncharted obstacles can improve vehicle survivability. This paper discusses initial experiments at the Center for AUV Research in obstacle detection and avoidance using the Naval Postgraduate School ARIES AUV with the Blueview Blazed Array forward looking sonar. It includes a discussion on evaluating OA optimality, autopilot control design and sonar image processing. It concludes with a description of successful results from a recent demonstration.

Download or read book Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle written by Christopher D. Chuhran and published by . This book was released on 2003-09 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the Navy continues its development of unmanned underwater vehicles, the need for total autonomous missions grows. Autonomous Underwater Vehicles (AUV) allow for advances in mine warfare, harbor reconnaissance, undersea warfare and more. Information can be collected from AUVs and downloaded into a ship or battle group's network. As AUVs are developed it is clear forward-look sonar will be required to be able to detect obstacles in front of its search path. Common obstacles in the littoral environment include reefs and seawalls which an AUV will need to rise above to pass. This thesis examines the behavior and control system required for an AUV to maneuver over an obstacle in the vertical plane. Hydrodynamic modeling of a REMUS vehicle enables a series of equations of motion to be developed to be used in conjunction with a sliding mode controller to control the elevation of the AUV. A two-dimensional, 24 deg. vertical scan forward look sonar with a range of 100 m is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for use in MATLAB simulations. The sonar 'image' of the vertical obstacle allows for an increasing altitude command that forces the AUV to pass safely over the obstacles at a reasonable rate of ascent and pitch angle. Once the AUV has passed over the obstacle, the vehicle returns to its regular search altitude. This controller is simulated over different types of obstacles.

Download or read book Design and Implementation of a Collision Avoidance System for the NPS Autonomous Underwater Vehicle AUV II Utilizing Ultrasonic Sensors written by Charles Alan Floyd and published by . This book was released on 1991 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Reactive Obstacle Avoidance for the REMUS Autonomous Underwater Vehicle Utilizing a Forward Looking Sonar written by and published by . This book was released on 2006 with total page 79 pages. Available in PDF, EPUB and Kindle. Book excerpt: One day fully autonomous AUV's will no longer require human interactions to complete its missions. To make this a reality, the AUV must be able to safely navigate in unfamiliar environments with unknown obstacles. This thesis builds on previous work conducted at NPS's Center for AUV Research to improve the autonomy of the REMUS class of AUVs with an implemented FLS. The first part of this thesis deals with accurate path following with the use of look-ahead pitch calculations. With the use of a SIMULINK model, constraints surrounding obstacle avoidance path planning are then explored, focusing on optimal sensor orientation issues. Two path planning methods are developed to address the issues of a limited sonar field of view and uncertainties brought on by an occlusion area. The first approach utilizes a pop-up maneuver to increase the field of view and minimize the occlusion area, while the second approach creates a path with the addition of a spline. Comparing the two methods, it was concluded that spline addition planner provided a robust optimal obstacle avoidance path and along with the look-ahead pitch controller completes the design of a back-seat driver to improve REMUS s survivability in an unknown environment. REMUS, AUV, UUV, Autonomous Underwater Vehicle, Reactive Obstacle Avoidance, Forward Looking Sonar, Vertical Plane, Pitch Controller, Spline, Gaussian, Occlusion, Optimal Sensor Orientation.

Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.

Download or read book Introduction to Embedded Systems Second Edition written by Edward Ashford Lee and published by MIT Press. This book was released on 2017-01-06 with total page 562 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the engineering principles of embedded systems, with a focus on modeling, design, and analysis of cyber-physical systems. The most visible use of computers and software is processing information for human consumption. The vast majority of computers in use, however, are much less visible. They run the engine, brakes, seatbelts, airbag, and audio system in your car. They digitally encode your voice and construct a radio signal to send it from your cell phone to a base station. They command robots on a factory floor, power generation in a power plant, processes in a chemical plant, and traffic lights in a city. These less visible computers are called embedded systems, and the software they run is called embedded software. The principal challenges in designing and analyzing embedded systems stem from their interaction with physical processes. This book takes a cyber-physical approach to embedded systems, introducing the engineering concepts underlying embedded systems as a technology and as a subject of study. The focus is on modeling, design, and analysis of cyber-physical systems, which integrate computation, networking, and physical processes. The second edition offers two new chapters, several new exercises, and other improvements. The book can be used as a textbook at the advanced undergraduate or introductory graduate level and as a professional reference for practicing engineers and computer scientists. Readers should have some familiarity with machine structures, computer programming, basic discrete mathematics and algorithms, and signals and systems.

Download or read book Index to IEEE Publications written by Institute of Electrical and Electronics Engineers and published by . This book was released on 1998 with total page 1234 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues for 1973- cover the entire IEEE technical literature.

Download or read book Aided Navigation GPS with High Rate Sensors written by Jay A. Farrell and published by McGraw Hill Professional. This book was released on 2008-04-03 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design Cutting-Edge Aided Navigation Systems for Advanced Commercial & Military Applications Aided Navigation is a design-oriented textbook and guide to building aided navigation systems for smart cars, precision farming vehicles, smart weapons, unmanned aircraft, mobile robots, and other advanced applications. The navigation guide contains two parts explaining the essential theory, concepts, and tools, as well as the methodology in aided navigation case studies with sufficient detail to serve as the basis for application-oriented analysis and design. Filled with detailed illustrations and examples, this expert design tool takes you step-by-step through coordinate systems, deterministic and stochastic modeling, optimal estimation, and navigation system design. Authoritative and comprehensive, Aided Navigation features: End-of-chapter exercises throughout Part I In-depth case studies of aided navigation systems Numerous Matlab-based examples Appendices define notation, review linear algebra, and discuss GPS receiver interfacing Source code and sensor data to support examples is available through the publisher-supported website Inside this Complete Guide to Designing Aided Navigation Systems • Aided Navigation Theory: Introduction to Aided Navigation • Coordinate Systems • Deterministic Modeling • Stochastic Modeling • Optimal Estimation • Navigation System Design • Navigation Case Studies: Global Positioning System (GPS) • GPS-Aided Encoder • Attitude and Heading Reference System • GPS-Aided Inertial Navigation System (INS) • Acoustic Ranging and Doppler-Aided INS