Navigation in the Presence of Obstacles for an Agile Autonomous Underwater Vehicle
Marios Xanthidis,Nare Karapetyan,Hunter Damron,Sharmin Rahman,James Johnson,Allison O’Connell,Jason M. O’Kane,Ioannis Rekleitis,Marios Xanthidis,Nare Karapetyan,Hunter Damron,Sharmin Rahman,James Johnson,Allison O’Connell,Jason M. O’Kane,Ioannis Rekleitis
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a decorated cave, is an extremely challenging problem that has not been addressed in the past. This paper proposes a novel navigation framework utilizing an enhan...
