EROAS augments 2D FLS with pivoting for 2.5D sonar and integrates SPD2C, SCG, and ST-CBF modules to achieve reactive 3D obstacle avoidance in AUVs, outperforming DWA and APF in simulation and HIL tests.
Methodology for processing of 3d multibeam sonar big data for comparative navigation,
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EROAS: 3D Efficient Reactive Obstacle Avoidance System for Autonomous Underwater Vehicles using 2.5D Forward-Looking Sonar
EROAS augments 2D FLS with pivoting for 2.5D sonar and integrates SPD2C, SCG, and ST-CBF modules to achieve reactive 3D obstacle avoidance in AUVs, outperforming DWA and APF in simulation and HIL tests.