Next Article in Journal
Design Optimization and Fabrication of a Novel Structural SOI Piezoresistive Pressure Sensor with High Accuracy
Next Article in Special Issue
H∞ Robust Control of a Large-Piston MEMS Micromirror for Compact Fourier Transform Spectrometer Systems
Previous Article in Journal
Accurate Energy Consumption Modeling of IEEE 802.15.4e TSCH Using Dual-Band OpenMote Hardware
Previous Article in Special Issue
A Novel Single-Axis MEMS Tilt Sensor with a High Sensitivity in the Measurement Range from 0 to 360
Article Menu

Export Article

Open AccessArticle
Sensors 2018, 18(2), 438; doi:10.3390/s18020438

A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments

Marine Assembly and Automatic Technology Institute, College of Automation, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Received: 22 December 2017 / Revised: 21 January 2018 / Accepted: 29 January 2018 / Published: 2 February 2018
(This article belongs to the Special Issue Smart Sensors for Mechatronic and Robotic Systems)
View Full-Text   |   Download PDF [3917 KB, uploaded 2 February 2018]   |  

Abstract

A novel real-time reaction obstacle avoidance algorithm (RRA) is proposed for autonomous underwater vehicles (AUVs) that must adapt to unknown complex terrains, based on forward looking sonar (FLS). To accomplish this algorithm, obstacle avoidance rules are planned, and the RRA processes are split into five steps Introduction only lists 4 so AUVs can rapidly respond to various environment obstacles. The largest polar angle algorithm (LPAA) is designed to change detected obstacle’s irregular outline into a convex polygon, which simplifies the obstacle avoidance process. A solution is designed to solve the trapping problem existing in U-shape obstacle avoidance by an outline memory algorithm. Finally, simulations in three unknown obstacle scenes are carried out to demonstrate the performance of this algorithm, where the obtained obstacle avoidance trajectories are safety, smooth and near-optimal. View Full-Text
Keywords: autonomous underwater vehicle; forward looking sonar; obstacle avoidance; reaction obstacle avoidance algorithm autonomous underwater vehicle; forward looking sonar; obstacle avoidance; reaction obstacle avoidance algorithm
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Yan, Z.; Li, J.; Zhang, G.; Wu, Y. A Real-Time Reaction Obstacle Avoidance Algorithm for Autonomous Underwater Vehicles in Unknown Environments. Sensors 2018, 18, 438.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top