A New Concept for an Obstacle Avoidance System for the AUV "SLOCUM Glider" Operation under Ice
This addresses the problem of safe navigation for AUVs in challenging under-ice environments, but appears incremental as it builds on existing glider technology.
The paper presents a concept for an obstacle avoidance system for an autonomous underwater vehicle (AUV) operating under ice, using a SLOCUM glider, and describes a graph-based algorithm for path planning in time-varying environments as an initial result.
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.