Autonomous underwater vehicles are now commonly used for wide-area survey and exploration missions mine countermeasures. CMRE is developing environmentally adaptive vehicle behaviours which exploit synthetic aperture sonar (SAS) imagery to ensure that area exploration for target detection is properly executed. We describe the construction of an in-mission vehicle world model from SAS images and the use of this situational awareness to drive adaptive behaviours. Finally, simulation results from the CMRE exploration algorithm are presented.

This presentation is part of Minisymposium “MS3 - Applications of Imaging Modalities beyond the Visible Spectrum (2 parts)”
organized by: Max Gunzburger (Florida State University) , G-Michael Tesfaye (Naval Surface Warfare Center, Panama City) , Janet Peterson (Florida State University) .

Authors:

Samantha Dugelay (NATO STO Centre for Maritime Research and Experimentation (CMRE))

Giorgio Urso (CMRE)

Keywords:

autonomy, computer vision, image processing, image representation, image segmentation, synthetic aperture sonar