| 3D Reconstruction with an AUV Mounted Forward-Looking Sonar |
Aug 2009 |
10 pages |
| Authors:
Douglas Horner; Nevin McChesney; Tad Masek; Sean Kragelund; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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 | The paper discusses the use of dual stave forward-looking sonar to build a threedimensional underwater model for navigation in restricted waterways. The sonar normally provides separate horizontal and vertical images but when the information is synthesized into a single three-dimensional model it permits, in certain circumstances, the AUV to plan and carry out a trajectory where no path is otherwise available. As the sonar system is fixed mounted to the ... |
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| Coordinated Autonomy for Persistent Presence in Harbor and Riverine Environments |
30-Sep-2007 |
14 pages |
| Authors:
D P Horner; A Monarrez; T D Masek; K M Squire; K D Jones; V Dobrokhodov; W Baer; S P Kragelund; M Kolsch; I I Kaminer; A J Healey; B D Wring; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| In FY 2007 the Naval Postgraduate School (NPS) teamed with Virginia Tech (VT) to conduct fundamental research and experimentation aimed at enabling coordinated autonomous operations by teams of heterogeneous (land, sea, air) vehicles. The primary goal of this research is to develop tools for vehicle-to-vehicle cueing and distributed sensing for shared situational awareness. A long-term goal for this research is persistent area surveillance of harbor and riverine environments by a ... |
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| High Bandwidth Communications for VSWMCM Operations |
30 Sep 2007 |
12 pages |
| Authors:
A J Healey; D P Horner; S P Kragelund; B D Wring; A Monarrez; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| A preliminary objective for FY 2007 was to implement a wireless communications architecture for networking autonomous underwater, surface, and aerial vehicles under the concept of operations described above. This allowed us to complete our primary objective: conducting field experiments to measure the received signal strength of the wireless links sensed by each network node. This experimental data represents the real-time sensory inputs to the guidance algorithms under development. It will ... |
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| Collaborative Unmanned Systems for Maritime and Port Security Operations |
Sep 2007 |
7 pages |
| Authors:
Anthony J Healey; D P Horner; S P Kragelund; B Wring; A Monarrez; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| This paper deals with some recent work ongoing at NPS, which attempts to show the utility of networked distributed vehicles for Maritime Interdiction, Riverine Operations, and related missions. We believe that these systems will be essential for dealing with the challenges in confronting these important National future needs. |
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| Obstacle Detection and Avoidance Using Blazed Array Forward Look Sonar |
30 SEP 2006 |
10 pages |
| Authors:
A. J. Healey; D. P. Horner; S. P. Kragelund; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| The long term goal of this project is to increase the level of autonomy in AUVs as they are being used for more complex missions than mine countermeasures. Part of this increase in autonomy will rely on obstacle detection and avoidance and will require a forward looking sonar (FLS) suitable for small vehicles. In the past year, the NPS Center for AUV Research has mounted a University of Washington Applied ... |
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| Collaborative Vehicles in Future Naval Missions, Obstacle Detection and Avoidance |
SEP 2006 |
12 pages |
| Authors:
Anthony J. Healey; Douglas P. Horner; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| In this Keynote paper, the authors attempt to provide some overarching view of the needs for vehicle collaboration based on future Naval missions. Collaboration between differing types of autonomous vehicle, surface, ground, aerial and underwater will be required to achieve the utility in operations promised by the concepts to date. At NPS, we are also working on obstacle detection and avoidance for small AUVs which is a subject also discussed ... |
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| Guidance Laws, Obstacle Avoidance, Artificial Potential Functions (Preprint) |
MAR 2006 |
36 pages |
| Authors:
Anthony J. Healey; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| In the context of autonomy for underwater vehicles, we assume that a usual suite of feedback controllers are present in the form of autopilot functions that provide for the regulation of vehicle speed, heading, and depth or altitude. In this chapter, we consider the topic of Guidance Laws, Obstacle Avoidance and the use of Artificial Potential Functions (APFs). This topic deals with the computations required to plan and develop paths ... |
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| AUV Experiments in Obstacle Avoidance |
SEP 2005 |
8 pages |
| Authors:
D. P. Horner; A. J. Healey; S. P. Kragelund; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| Reactive Obstacle Avoidance "OA" is an important step in attaining greater autonomy in Autonomous Underwater Vehicles "AUV". For AUVs that conduct underwater surveys, avoidance of uncharted obstacles can improve vehicle survivability. This paper discusses initial experiments at the Center for AUV Research in obstacle detection and avoidance using the Naval Postgraduate School ARIES AUV with the Blueview Blazed Array forward looking sonar. It includes a discussion on evaluating OA optimality, ... |
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| NPS ARIES Forward Look Sonar Integration |
01-Jan-2004 |
6 pages |
| Authors:
A J Healey; D P Horner; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| This work integrated an experimental Blazed Array Forward Looking Sonar (FLS) developed by the University of Washington, Applied Physics Laboratories into the ARIES autonomous underwater vehicle (AUV). Experiments were conducted and data were gathered using this sonar in a variety of environments. The images generated were analyzed to provide information for use in the further development of forward look obstacle detection and avoidance technologies. The year-end goal of the project ... |
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| Tactical Decision Aids High Bandwidth Links Using Autonomous Vehicles |
01-Jan-2004 |
7 pages |
| Authors:
A J Healey; D P Horner; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| The goals are to develop Tactical Decision Aids for using small autonomous underwater vehicles in very shallow water (VSW) environments. TDAs enable operators to view data gathered by these vehicles and make informed decisions as to the conduct of mine counter measures operations. This project is examining the use of command and control vehicles to aid in reducing latency of decision making and improvements to overall MCM reliability using multiple ... |
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| Application of Formation Control for Multi-Vehicle Robotic Minesweeping |
01-Dec-2001 |
7 pages |
| Authors:
Anthony J Healey; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| In an effort to find low cost solutions to Naval minesweeping, a fleet of robot minesweepers equipped with detection sensors and acoustic/magnetic devices is proposed. To ensure maximum sweeping all vehicle movements are coordinated through a supervisor vehicle that determines if vehicles are lost to mine detonation, and re-tasks, as needed, the remaining vehicles to follow tracks left by lost vehicles. A computer program has been developed to evaluate control ... |
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| Current Developments in Underwater Vehicle Control and Navigation: The NPS ARIES AUV |
01-Sep-2000 |
7 pages |
| Authors:
Anthony J Healey; David B Marco; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| This paper provides an overview of the Naval Postgraduate School ARIES autonomous underwater vehicle. An attempt is made to highlight its' current operational capabilities and provide a description of future enhancements for greater mission utility and flexibility. An overview of the vehicle design along with descriptions of all major hardware components and sensors is given. A major discussion of the implementation of a modular, multi-rate, multi-process software architecture for the ... |
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| Development of Low Cost Underwater Navigation Systems |
30 Sep 1998 |
4 pages |
| Authors:
Anthony J Healey; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
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| The long term goal of this work is to further the technology of autonomous underwater systems for minefield reconnaissance/mapping/neutralization. This particular project is aimed at improvements to low cost navigation systems using COTS equipment using extended Kalman filtering and sensor bias learning and compensation. Other related work includes the study of autonomous fault detection and compensation, as well as sea state learning for use in motion planning and oceanographic survey. ... |
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