An Autonomous Navigation System for Unmanned Underwater Vehicle
Seong‐Gon Kim, Yong‐Gi Kim · InTech eBooks · 2009
This paper designed a RVC intelligent system model that can be applied to various unmanned vehicles and the underwater vehicle's intelligent autonomous navigation system was designed consisting of a collision avoidance system, a navigation system and a collision risk computation based on a Virtual world system. During the development of the Virtual world system, several points such as the fusion of different techniques, preservation of system consistency, real time system processing etc. were taken into consideration, and since it models a client/server structure, it also has the features of consistency, independence maximization, and load balancing. The RVC intelligent system can be applied not only to autonomous underwater vehicles, but to various autonomous robots such as unmanned aerial vehicles, mobile robots and autonomous submarines. To test the performance of the underwater vehicle's intelligent autonomous navigation system based on this RVC intelligent system model, a 3D simulator was developed, and through a scenario with dynamic obstacles existing in the navigational environment, the validity of the intelligent autonomous navigation system was verified.