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Sonar Three-Dimensional Image Formation For Underwater Vehicular Collision Avoidance, Gary Robert Boucher

Doctoral Dissertations

The last ten years have shown a marked increase in research into Autonomous Underwater Vehicles. A key component of this research is the ability to “look” ahead of the vehicle's projected path and translate active sonar returns into three-dimensional (3-D) computer data structures used to navigate and avoid obstacles. This need to avoid obstacles is also common to other underwater vehicles including submersibles.

Of special interest to this research is the “Occupancy Grid Framework.” This technique divides the forward looking sonar field into cells. These cells can be maintained either in spherical or cartesian coordinate systems.

This research demonstrates a …