Design of obstacle detection and avoidance system for Guanay II AUV
Cesar Galarza, Ivan Masmitjà Rusiñol, Joan Lobo Prat, Spartacus Gomáriz Castro · 2016
This paper presents the design of an obstacle avoidance algorithm for Guanay II AUV. The obstacle detection system disposes a SONAR and its use guarantees the safety in navigation of AUV. Obstacle avoidance is performed based on a fuzzy reactive architecture for different forward speeds of the vehicle. The simulation results obtained through the implementation of the algorithms designed in Matlab validate the designs.