Low cost underwater robot sensor suite

Author

Joordens, Matthew ; Serna, Jared ; Songer, Scott ; Friday, Casey ; Hoy, Julie ; Seiger, Ralph ; Madalinski, Walter ; Jamshidi, Mo

Author_Institution

Autonomous Control Eng. (ACE) Center & ECE Dept., Univ. of Texas, San Antonio, TX

fYear

2008

fDate

2-4 June 2008

Firstpage

1

Lastpage

6

Abstract

One of the most expensive parts of underwater robotics is the sensors. This paper looks at modifying off the shelf components to create a sensor suite on a small budget. A big saving is made with sonar using a cheap commercial product to create a four sonar array. A depth sensor and acceleration navigation system are also developed.

Keywords

acceleration measurement; distance measurement; mobile robots; path planning; sensors; sonar arrays; underwater vehicles; Sonar distance measurement; acceleration measurement; acceleration navigation system; depth sensor; shelf component; sonar array; underwater robot sensor suite; Acoustic pulses; Control engineering; Costs; Global Positioning System; Marine animals; Microprocessors; Robot sensing systems; Sonar measurements; Sonar navigation; Space vector pulse width modulation; Acceleration measurement; Sonar distance measurement; Sonar transducers; Transducers;

fLanguage

English

Publisher

ieee

Conference_Titel

System of Systems Engineering, 2008. SoSE '08. IEEE International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-2172-5

Electronic_ISBN

978-1-4244-2173-2

Type

conf

DOI

10.1109/SYSOSE.2008.4724140

Filename

4724140