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Obstacle detection by a forward-looking sonar integrated in an autonomous underwater vehicle

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Date Issued:
2000
Summary:
This thesis describes the implementation of a commercially available forward looking sonar (FLS) in an autonomous underwater vehicle (AUV) modified for the task of reactive obstacle detection. Any obstacle lying in the vehicle's path is a potential mission-terminating threat. Inclusion of a forward looking sensor would provide valuable information to the AUV. Threat assessment and navigation would use this information in order to avoid obstacles. The system used for this project is an 8-element transducer FLS at 200 kHz. The sonar control software is done in DOS on a dedicated personal computer in a PC/104 form factor. A variable cell-size grid occupancy search method is used to detect objects in the vehicle path. This thesis describes how this sonar is used for the obstacle detection task (software), how it is integrated (hardware and network) in the AUV and what are the results obtained with the system.
Title: Obstacle detection by a forward-looking sonar integrated in an autonomous underwater vehicle.
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Name(s): Martin, Antoine.
Florida Atlantic University, Degree grantor
An, Edgar, Thesis advisor
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 2000
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 187 p.
Language(s): English
Summary: This thesis describes the implementation of a commercially available forward looking sonar (FLS) in an autonomous underwater vehicle (AUV) modified for the task of reactive obstacle detection. Any obstacle lying in the vehicle's path is a potential mission-terminating threat. Inclusion of a forward looking sensor would provide valuable information to the AUV. Threat assessment and navigation would use this information in order to avoid obstacles. The system used for this project is an 8-element transducer FLS at 200 kHz. The sonar control software is done in DOS on a dedicated personal computer in a PC/104 form factor. A variable cell-size grid occupancy search method is used to detect objects in the vehicle path. This thesis describes how this sonar is used for the obstacle detection task (software), how it is integrated (hardware and network) in the AUV and what are the results obtained with the system.
Identifier: 9780599813823 (isbn), 12691 (digitool), FADT12691 (IID), fau:9573 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 2000.
Subject(s): Oceanographic submersibles--Computer simulation
Sonar
Underwater navigation
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/12691
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.