Navigation Around an Unknown Obstacle for Autonomous Surface Vehicles Using a Forward-Facing Sonar

Plonski, Patrick A.
Vander Hook, Joshua
Peng, Cheng
Noori, Narges
Isler, Volkan
2015-04-16
Thumbnail Image

View/Download File

15-005.pdf (1014.55 KB)

Persistent link to this item

https://hdl.handle.net/11299/215970
Statistics
View Statistics

Journal Title

Journal ISSN

Volume Title

Title

Navigation Around an Unknown Obstacle for Autonomous Surface Vehicles Using a Forward-Facing Sonar

Authors

Published Date

2015-04-16

Publisher

Type

Report

Abstract

A robotic boat is moving between two points when it encounters an obstacle of unknown size. The boat must find a short path around the obstacle to resume its original course. How should the boat move when it can only sense the proximity of the obstacle, and does not have prior information about the obstacle’s size? We study this problem for a robotic boat with a forward-facing sonar. We study two versions of the problem. First, we solve a simplified case when the obstacle is a rectangle of known orientation but unknown dimensions. Second, we study a more general case where an arbitrarily shaped obstacle is contained between two known parallel lines. We study the performance of the algorithms analytically using competitive analysis and present results from field experiments. The experimental setup is relevant for harbor patrol or autonomous navigation in shallow water.

Keywords

Description

Related to

Replaces

License

Collections

Computer Science & Engineering (CS&E) Technical Reports

Series/Report Number

Technical Report; 15-005

Funding information

Isbn identifier

Doi identifier

Previously Published Citation

Suggested citation

Plonski, Patrick A.; Vander Hook, Joshua; Peng, Cheng; Noori, Narges; Isler, Volkan. (2015). Navigation Around an Unknown Obstacle for Autonomous Surface Vehicles Using a Forward-Facing Sonar. Retrieved from the University Digital Conservancy, https://hdl.handle.net/11299/215970.

Content distributed via the University Digital Conservancy may be subject to additional license and use restrictions applied by the depositor. By using these files, users agree to the Terms of Use. Materials in the UDC may contain content that is disturbing and/or harmful. For more information, please see our statement on harmful content in digital repositories.