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.
Evaluating the benefit of using multiple low-cost forward-looking sonar beams for collision avoidance in small auvs,
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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.