Intelligent obstacle avoidance system for unmanned undersea vehicles in shallow water

Keehoon Kim; Andrew A. Kostrzewski; Daniel A. Erwin

doi:10.1117/12.543447

1 September 2004 Intelligent obstacle avoidance system for unmanned undersea vehicles in shallow water

Keehoon Kim, Andrew A. Kostrzewski, Daniel A. Erwin

Author Affiliations +

Proceedings Volume 5417, Unattended/Unmanned Ground, Ocean, and Air Sensor Technologies and Applications VI; (2004) https://doi.org/10.1117/12.543447
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

An unmanned undersea vehicle (UUV) needs an obstacle avoidance capability to make autonomous path planning decisions for successful undersea search and survey, maritime reconnaissance, communication/navigation aids, and tracking and trailing in uncharted shallow water. Physical Optics Corporation (POC) has developed a novel autonomous UUV path optimization navigator system for real-time, robust, self-adjusting, intelligent autonomous obstacle avoidance/navigation of UUVs. The POC system is based on our proprietary fast genetic algorithm, which processes signals from on-board obstacle avoidance sonar sensors to continuously optimize the navigation path while avoiding both moving and stationary obstacles in shallow waters. The system performs autonomous obstacle avoidance, accommodating navigation parameter changes. Vehicle dynamics are also incorporated by hydrodynamic compensation.

Citation Download Citation

Keehoon Kim, Andrew A. Kostrzewski, and Daniel A. Erwin "Intelligent obstacle avoidance system for unmanned undersea vehicles in shallow water", Proc. SPIE 5417, Unattended/Unmanned Ground, Ocean, and Air Sensor Technologies and Applications VI, (1 September 2004); https://doi.org/10.1117/12.543447

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