Artificial potential fields for the obstacles avoidance system of an AUV using a mechanical scanning sonar

Abstract

Obstacle avoidance is one of the most relevant problems in mobile robotics field. The solution of this problem allows successful trajectory generation, detecting and avoiding those regions where a path is unable due to the presence of obstacles. The purpose of this paper is the application of the potential fields method for obstacles avoidance using a mechanical scanning sonar device for an autonomous underwater vehicle. Particular sonar's features are used to instantiate the proposed method. Different tests in simulated environment provided preliminary results that have proved its feasibility for the future implementation of this method in real environments, within the obstacle avoidance system of an autonomous underwater vehicle (AUV).