• Design obstacle detection syst...

Treffer: Design obstacle detection system for AUV Guanay II

Title:
Design obstacle detection system for AUV Guanay II
Authors:
Galarza, Cesar, Masmitjà Rusiñol, Ivan, González, J., Prat Tasias, Jordi, Gomáriz Castro, Spartacus, Río Fernández, Joaquín del
Contributors:
Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica, Universitat Politècnica de Catalunya. SARTI - Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació
Publication Year:
2015
Collection:
Universitat Politècnica de Catalunya, BarcelonaTech: UPCommons - Global access to UPC knowledge
Subject Terms:
Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Adquisició i detecció del senyal, Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles, Submersibles, Autonomous vehicles, Signal processing, AUV Guanay II, Sonar MK3, Obstacle detection, Acquisition and signal processing, Automatic operation, Control automàtic, Vehicles submergibles, Robots -- Programació
Document Type:
Konferenz conference object
File Description:
4 p.; application/pdf
Language:
English
Relation:
http://hdl.handle.net/2117/77240
Availability:
http://hdl.handle.net/2117/77240
Rights:
Open Access
Accession Number:
edsbas.6D145366
Database:
BASE

Weitere Informationen

The autonomous underwater vehicles (AUV) carry out inspection missions and intervention on known and unknown environments, where it is important to ensure their safety. The ability for obstacle detection and their avoidance during navigation is a requirement for safety. In this article is presented an obstacle detection system for the experimental vehicle Guanay II using mechanical scanning sonar, the Tritech Micron MK. Given that the Guanay II operates autonomously, a new software has been designed that allows adjustment, control, acquisition and processing of the sonar signals. Experimental tests done at sea have allowed us to verify the correct operation of the designed software, and to determine the optimal values of the fundamental parameters of sonar. ; Peer Reviewed ; Postprint (published version)