Online Measurement of Obstacles´ Distances Using Forward Looking Sonar Sensor Mounted on an Experimental AUV

Author

Ghatak, A. ; Pratihar, D.K. ; Kumar, C.S.

Author_Institution

Indian Inst. of Technol., Kharagpur

fYear

2006

fDate

15-17 Dec. 2006

Firstpage

983

Lastpage

988

Abstract

We present an approach, which uses the sonar data from a commercial off the shelf forward Looking Sonar ( FLS ) sensor used in AUVs. We consider a single beam 2D sonar (namely Micron sonar from Tritech International Ltd.) and the data recorded is in SeaNet Protocol. The data represented under SeaNet logs for the sonar are interpreted in real time for distance computation of the obstacles present in the environment observed. This approach can also help us to find the nearest obstacle in any direction and it is giving us an important tool, which can be used for the navigation of an AUV. Further, the description of the environment containing the obstacles is presented with the help of images, which are reconstructed using the SeaNet log data using OpenGL.

Keywords

collision avoidance; image reconstruction; inertial navigation; marine communication; marine engineering; marine vehicles; mobile robots; protocols; sonar imaging; AUV navigation; OpenGL; SeaNet log data; SeaNet protocol; autonomous underwater vehicle; forward looking sonar sensor; image reconstruction; inertial navigation; mobile robot; obstacle distance measurement; single beam 2D sonar; Control systems; Image reconstruction; Intelligent robots; Intelligent sensors; Mechanical sensors; Sampling methods; Sensor systems; Sonar measurements; Sonar navigation; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2006. ICIT 2006. IEEE International Conference on

Conference_Location

Mumbai

Print_ISBN

1-4244-0726-5

Electronic_ISBN

1-4244-0726-5

Type

conf

DOI

10.1109/ICIT.2006.372362

Filename

4237684