Obstacle detection and avoidance system for GuanayII AUV
نویسنده
چکیده
In this paper, is presented the design of an algorithm for detection and avoidance of obstacles for Guanay II AUV. The obstacle detection system is based on a sonar and its use guarantees the safe navigation of AUV. The strategy of obstacle avoidance is performed based on Fuzzy reactive architecture for different forward speeds of the vehicle. Simulation results obtained by developing the algorithms in Matlab validate the design. Keywords—AUV Guanay II, sonar MK3, obstacle detection, acquisition and signal processing, automatic operation.
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