Toal DJF, Flanagan C, Lyons WB, Nolan S, Lewis E

2005

December

Robotics And Autonomous Systems

Proximal object and hazard detection for autonomous underwater vehicle with optical fibre sensors

Published

()

autonomous underwater vehicles optical fibre sensor obstacle avoidance behaviour-based control SYSTEM

53

3-4

214

229

This paper describes short range and tactile optical fibre sensors for marine applications. The sensors are designed for obstacle avoidance on unmanned underwater vehicles (UUVs) operating in confined spaces, but have other possible applications. The fibre sensors augment the sensory abilities derived from ultrasonic and other sensors employed for marine proximity measurement. Of particular interest is proximity detection in the "near" (less than 1 m) and tactile areas. The paper describes the basic principle of operation and alternative sensor configurations. Results are given based on laboratory tests and deployment on a mini autonomous submersible in a test pool. (C) 2005 Elsevier B.V. All rights reserved.

ISSN: 0921-8890

10.1016/j.robot.2005.09.007