TY - GEN
T1 - A Method of Recognizing Obstacles for a Small-sized Autonomous Underwater Vehicle X4-AUV
AU - Watanabe, Keigo
AU - Sugano, Shingo
AU - Nagai, Isaku
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Although an X4-AUV which controls the position and posture of the body using only four thrusters was developed up to now, there is no function to avoid obstacles during underwater activities. It is difficult to mount a sonar or infrared sensor, which is a general distance measuring sensor, on the X4-AUV, because of its large-size or wavelength attenuation. Therefore, an obstacle recognition system is proposed in this research using a visible light laser and a camera. This paper constructs a distance measurement system that is applied for a small-sized autonomous underwater vehicle, in order to measure underwater obstacles using a ray tracing method and an optical cutting method. In particular, it is asserted that the size of such a measurement system is compact, and it is also verified that the proposed method is useful through some experiments.
AB - Although an X4-AUV which controls the position and posture of the body using only four thrusters was developed up to now, there is no function to avoid obstacles during underwater activities. It is difficult to mount a sonar or infrared sensor, which is a general distance measuring sensor, on the X4-AUV, because of its large-size or wavelength attenuation. Therefore, an obstacle recognition system is proposed in this research using a visible light laser and a camera. This paper constructs a distance measurement system that is applied for a small-sized autonomous underwater vehicle, in order to measure underwater obstacles using a ray tracing method and an optical cutting method. In particular, it is asserted that the size of such a measurement system is compact, and it is also verified that the proposed method is useful through some experiments.
UR - http://www.scopus.com/inward/record.url?scp=85078340395&partnerID=8YFLogxK
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U2 - 10.1109/ARSO46408.2019.8948720
DO - 10.1109/ARSO46408.2019.8948720
M3 - Conference contribution
AN - SCOPUS:85078340395
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 310
EP - 316
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -