Behavior-Based Control for Autonomous Underwater Exploration

  title={Behavior-Based Control for Autonomous Underwater Exploration},
  author={Julio Rosenblatt and Stefan B. Williams and Hugh F. Durrant-Whyte},
We present a system for behavior-based control of an autonomous underwater vehicle for the purpose of inspection of coral reefs, a task currently performed by divers holding a video camera while following a rope. Using sonar and vision-based approaches, behaviors have been developed for guiding the robot along its intended course, for maintaining a constant height above the sea floor, and for avoiding obstacles. A task-level controller selects which behaviors should be active according to user… CONTINUE READING
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