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.
Deep reinforcement learning controller for 3d path following and collision avoidance by autonomous underwater vehicles,
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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.