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Safe Navigation Algorithm for Autonomous Underwater Vehicles

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Abstract

Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.

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  1. Concern CSRI Elektropribor, JSC, 197046, St. Petersburg, Russia

    V. S. Bykova, A. I. Mashoshin & I. V. Pashkevich

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  1. V. S. Bykova
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  2. A. I. Mashoshin
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  3. I. V. Pashkevich
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Correspondence to A. I. Mashoshin.

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Bykova, V.S., Mashoshin, A.I. & Pashkevich, I.V. Safe Navigation Algorithm for Autonomous Underwater Vehicles. Gyroscopy Navig. 12, 86–95 (2021). https://doi.org/10.1134/S2075108721010028

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  • DOI: https://doi.org/10.1134/S2075108721010028

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