Accession Number:

ADA526643

Title:

3D Reconstruction with an AUV Mounted Forward-Looking Sonar

Descriptive Note:

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH

Report Date:

2009-08-01

Pagination or Media Count:

10.0

Abstract:

The paper discusses the use of dual stave forward-looking sonar to build a threedimensional underwater model for navigation in restricted waterways. The sonar normally provides separate horizontal and vertical images but when the information is synthesized into a single three-dimensional model it permits, in certain circumstances, the AUV to plan and carry out a trajectory where no path is otherwise available. As the sonar system is fixed mounted to the AUV body, a trajectory is presented which uses the combined sonar fields-of-view to produce paths that optimize situational understanding for reactive and deliberative obstacle avoidance.

Subject Categories:

  • Submarine Engineering
  • Acoustic Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE