A design guide for marine robots using sonar

Author

Rikoski, Richard J.

Author_Institution

Naval Surface Warfare Center, Panama City, FL, USA

Volume

2

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

1123

Abstract

This paper investigates how to design a robot that uses sonar. Governing equations describing the evolution of geometric measurements are derived as a function of 6-DOF robot dynamics. A non-dimensional analysis of the governing equations is presented, to determine which terms are relevant to specific robots. The contributions of waves and currents are considered. The equations are then expanded to evaluate the effect of transducer location on the robot. Finally, the computational complexity of detecting and tracking arbitrarily curved objects is derived as a function of dynamics and sonar properties.

Keywords

computational complexity; mobile robots; navigation; observability; robot dynamics; sonar; underwater vehicles; computational complexity; marine robots; nondimensional analysis; object detection; observability; robot dynamics; sonar; transducer location; Cities and towns; Computational complexity; Equations; Robot sensing systems; Simultaneous localization and mapping; Sonar detection; Sonar measurements; Taylor series; Vehicle dynamics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389547

Filename

1389547