Proximal object and hazard detection for autonomous underwater vehicle with optical fibre sensors
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 1m) 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.
autonomous underwater vehicles optical fibre sensor obstacle avoidance behaviour-based control