DocumentCode
399751
Title
Benthic boundary tracking using a profiler sonar
Author
Barat, Christian ; Rendas, Maria João
Author_Institution
Laboratoire DS, CNRS-UNSA, Sophia Antipolis, France
Volume
1
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
830
Abstract
The paper presents work on autonomous tracking of boundaries between distinct benthic regions using an AUV equipped of a mechanically scanning profiler sonar. By exploiting sonar scans of the region below the robot, a classical control loop is closed around the sonar data, using a feedback signal that is robust with respect to classification "noise." Results obtained in a real experiment of tracking a boundary between sand and Posidonia are presented.
Keywords
feedback; remotely operated vehicles; sonar tracking; telerobotics; underwater vehicles; autonomous boundary tracking; autonomous underwater vehicle; benthic boundary tracking; benthic regions; control loop; feedback signal; profiler sonar; robot; Automatic control; Biomedical signal processing; Educational robots; Imaging phantoms; Motion control; Oceans; Pressure control; Remotely operated vehicles; Signal processing algorithms; Sonar;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1250732
Filename
1250732
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