Design of obstacle detection and avoidance system for guanay II auv
Obstacle Detection System For Guanay II AUV
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Obstacle Detection System For Guanay II AUVGuanay II AUV [1] [2], is a vehicle designed to navigate on the surface and make vertical profiles. Its dynamic characteristics allow a maximum speed of navigation of 1m/s and a turning radius that varies with the speed according to Figure 2. 
Maximum forward velocity u regarding the radius of curvature[2] Previous work [3], an obstacle detection system was designed incorporating to the vehicle a SONAR MK3 [4]. This SONAR determines the existence of obstacles in the trajectory of navigation and establishes its location and distance to the vehicle. This is achieved by analyzing the area scanned by the SONAR (Figure 3). This area is divided into 3 sectors (right, center and left) each of 30°. For each of the sectors, the minimum distance between the vehicle and the obstacle is determined. 
Description of the functioning of obstacle detection system [3] Directory: bitstream -> handle -> 2117 handle -> Master of science handle -> Healthcare utilization among persons living with hiv with attention to the influences of hepatitis handle -> The Economics of Technology Sharing: Open Source and Beyond Josh Lerner and Jean Tirole handle -> A dissertation handle -> The Rise of Digital Curation and Cyberinfrastructure: From Experimentation to Implementation, and Maybe Integration handle -> Mobile augmented reality applications for library services handle -> Libraries, Archives, and Museums as Epistemic Infrastructure1 Download 168.46 Kb. Share with your friends:
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