Collision avoidance and bottom following of a torpedo-like AUV

Abstract

This paper addresses the problem of the reactive behaviors of underseas robots and more precisely the problems of collision avoidance and bottom following of torpedo-like AUVs. Two cases have been investigated: the first one concerns the local navigation of an AUV moving in a cluttered (unknown obstacles) pipe for it's inspection. The second one deals with the following of unknown ocean bottoms.