Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="841376.fig.0012a" src="https://static.hindawi.com/articles/mpe/volume-2013/841376/figures/841376.fig.0012a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>The avoidance result with traditional VFH</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="841376.fig.0012b" src="https://static.hindawi.com/articles/mpe/volume-2013/841376/figures/841376.fig.0012b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>The avoidance result with proposed improved VFH</td></tr></table></td></tr></table>

<table>Avoidance results in Case <a href="https://static.hindawi.com/articles/mpe/volume-2013/841376/figures/#casee3">3</a>.</table>

Mathematical Problems in Engineering

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Figure 12

Figure 12: Obstacle Avoidance for Unmanned Undersea Vehicle in Unknown Unstructured Environment 