Design of obstacle detection and avoidance system for Guanay II AUV

C. Galarza, I. Masmitja, J. Prat, S. Gomariz
2016 2016 24th Mediterranean Conference on Control and Automation (MED)  
This paper presents the design of an obstacle avoidance algorithm for Guanay II AUV. The obstacle detection system disposes a SONAR and its use guarantees the safety in navigation of AUV. Obstacle avoidance is performed based on a fuzzy reactive architecture for different forward speeds of the vehicle. The simulation results obtained through the implementation of the algorithms designed in Matlab validate the designs.
doi:10.1109/med.2016.7535959 dblp:conf/med/GalarzaMPG16 fatcat:dky4hemnfvhe3ehclcfjvzqlaa