ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.44

Heidarsson, Hordur K (University of Southern California), Sukhatme, Gaurav (University of Southern California)

Obstacle Detection and Avoidance for an Autonomous Surface Vehicle Using a Profiling Sonar

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Marine Robotics, Sonars, Collision Avoidance


We present an experimental study of a mechanically scanned profiling sonar for Autonomous Surface Vehicle (ASV) obstacle detection and avoidance. We extract potential obstacles from echo returns and suggest a scanning strategy for sonar in this application. We demonstrate with simulations (driven by data collected in the field) the potential for an ASV to rely solely on sonar data to navigate and avoid obstacles in a lake and harbor environment.



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