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

Daniel J.F. Toal, Colin Flanagan, William B. Lyons, Sean Nolan, Elfed Lewis

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Original languageEnglish
Pages (from-to)214-229
Number of pages16
JournalRobotics and Autonomous Systems
Volume53
Issue number3-4
DOIs
Publication statusPublished - 31 Dec 2005

Keywords

  • Autonomous underwater vehicles
  • Behaviour-based control
  • Obstacle avoidance
  • Optical fibre sensor

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