A Method of Recognizing Obstacles for a Small-sized Autonomous Underwater Vehicle X4-AUV

Keigo Watanabe, Shingo Sugano, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PublisherIEEE Computer Society
Pages310-316
Number of pages7
ISBN (Electronic)9781728131764
DOIs
Publication statusPublished - Oct 2019
Event15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China
Duration: Oct 31 2019Nov 2 2019

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume2019-October
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Conference

Conference15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
CountryChina
CityBeijing
Period10/31/1911/2/19

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

Cite this

Watanabe, K., Sugano, S., & Nagai, I. (2019). A Method of Recognizing Obstacles for a Small-sized Autonomous Underwater Vehicle X4-AUV. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (pp. 310-316). [8948720] (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948720