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@article{pebody2008,
title = {Autonomous underwater vehicle collision avoidance for under-ice exploration.},
author = {M. Pebody},
journal = {PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART M-JOURNAL OF
ENGINEERING FOR THE MARITIME ENVIRONMENT},
pages = {53 - 66},
number = {M2},
volume = {222},
year = {2008},
abstract = {On 22 August 2004 the Autosub-2 autonomous underwater vehicle (AUV) was on its
return leg of a 144 km, 24 h under-ice mission in the Arctic sea over the
Northwind Shoal off the northeast Greenland coast when it found its path
blocked by a deep ice keel that had drifted across its planned mission route.
After three attempts, the Autosub found a way around the keel and continued on
its way to rendezvous with its mother ship. This paper reports the
development, testing, and operation of collision and obstacle avoidance
techniques used in the Arctic and Antarctic under-ice expeditions of the
Autosub-2 AUV.}}