This paper presents a concept for a control system for an autonomous underwater vehicle under ice using a "SLOCUM" underwater glider. The project concept, the separate working tasks for the next one-and-a-half years and the first results will be presented. In this context the structure of the obstacle avoidance system and a simulator structure with a sensor and environment simulation as well as the interfaces to the glider hardware will be discussed. As a first result of the main research, a graph-based algorithm for the path planning in a time-varying environment (variable ocean field, moving obstacles) will be described.


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    Title :

    A new concept for an obstacle avoidance system for the AUV "SLOCUM glider" operation under ice


    Contributors:


    Publication date :

    2009


    Size :

    8 Seiten, 19 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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