On 22 August 2004 the Autosub-2 autonomous underwater vehicle (AUV) was on its return leg of a 144 km, 24 h under-ice mission in the Arctic sea over the Northwind Shoal off the northeast Greenland coast when it found its path blocked by a deep ice keel that had drifted across its planned mission route. After three attempts, the Autosub found a way around the keel and continued on its way to rendezvous with its mother ship. This paper reports the development, testing, and operation of collision and obstacle avoidance techniques used in the Arctic and Antarctic under-ice expeditions of the Autosub-2 AUV.


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    Title :

    Autonomous underwater vehicle collision avoidance for under-ice exploration


    Contributors:
    Pebody, M (author)


    Publication date :

    2008-06-01


    Size :

    14 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Autonomous underwater vehicle collision avoidance for under-ice exploration

    Pebody, M. / Institution of Mechanical Engineers; Automatic Control ouncil | British Library Conference Proceedings | 2008


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