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 language | English |
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Pages (from-to) | 214-229 |
Number of pages | 16 |
Journal | Robotics and Autonomous Systems |
Volume | 53 |
Issue number | 3-4 |
DOIs | |
Publication status | Published - 31 Dec 2005 |
Keywords
- Autonomous underwater vehicles
- Behaviour-based control
- Obstacle avoidance
- Optical fibre sensor