Abstract
Autonomous Underwater Vehicles (AUVs) operate in unknown underwater environments and take decisions based on sensor readings, without any link with a human operator. It is critical for the AUVs to be able to avoid submerged obstacles such as cliffs, wrecks and floating mines to improve vehicle survivability. In this study, a real–time obstacle detection and avoidance algorithm that uses forward looking sonar is presented. FPGA technology was used to attain real-time processing. The proposed algorithms are focused on horizontal plane obstacle detection and avoidance.
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