Accession Number:

ADA496699

Title:

Three-Dimensional Feature Reconstruction with Dual Forward Looking Sonars for Unmanned Underwater Vehicle Navigation

Descriptive Note:

Master's thesis

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

2009-03-01

Pagination or Media Count:

83.0

Abstract:

Unmanned Underwater Vehicles frequently rely on two-dimensional sensors for information about their surroundings. These sensors do not provide adequate information for obstacle avoidance in cluttered maritime environments. To address that issue, a three-dimensional reconstruction of the environment utilizing occupancy grids and a prototype forward looking sonar will be considered. Providing the vehicle with three-dimensional views of the environment will allow for optimal route planning and an increase in successful missions in complex environments.

Subject Categories:

  • Miscellaneous Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE