Dual-use signal processing for a multiple-sensor system: sonar and optical image processing for underwater obstacle avoidance

A novel method for streamlining two different signals from sonar and optical sensors into a single signal processing flow to implement an obstacle avoidance algorithm is presented. The processing architecture consists of a custom fabricated analog smoothing array and a microcontroller The combination of these two elements reduces power requirements well below that of a DSP performing a similar algorithm enabling a necessary increase of endurance for an autonomous underwater vehicle (AUV). Both signals utilize the same signal path and the final heading decision is made with the microcontroller through a simple and low-power differencing and accumulation process.