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Document Type : Latin Dissertation
Language of Document : English
Record Number : 150936
Doc. No : ET22728
Main Entry : Antoine Martin
Title Proper : Obstacle Detection by a Forward Looking Sonar Integrated in an Autonomous Underwater Vehicle
Note : This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract : This thesis describes the implementation of a commercially available forward lookingsonar (FLS) in an autonomous underwater vehicle (AUV) modified for the task ofreactive obstacle detection.Any obstacle lying in the vehicle's path is a potential mission-terminating threat.Inclusion of a forward looking sensor would provide valuable information to the AUV.Threat assessment and navigation would use this information in order to avoidobstacles. The system used for this project is an 8-element transducer FLS at 200 kHz.The sonar control software is done in DOS on a dedicated personal computer in aPC/104 form factor. A variable cell-size grid occupancy search method is used to detectobjects in the vehicle path. This thesis describes how this sonar is used for the obstacledetection task (software), how it is integrated (hardware and network) in the AUV andwhat are the results obtained with the system.,....-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject : Electericl tess
: برق
electronic file name : TL45954.pdf
Title and statement of responsibility and : Obstacle Detection by a Forward Looking Sonar Integrated in an Autonomous Underwater Vehicle [Thesis]
 
 
 
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