Title :
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
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;
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
DOI :
10.1109/ICIT.2006.372362
