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<p>Unmanned Underwater Vehicles frequently rely on two-dimensional sensors for  information about their surroundings. These sensors do not provide adequate information  for obstacle avoidance in cluttered maritime environments. To address that issue, a threedimensional  reconstruction of the environment utilizing occupancy grids and a prototype  forward looking sonar will be considered. Providing the vehicle with three-dimensional  views of the environment will allow for optimal route planning and an increase in  successful missions in complex environments.
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<br>Subjects: Electrical engineering; Vehicles, Remotely piloted; Sonar</div>
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McChesney, Nevin A.</div>
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