The autonomous underwater vehicles (AUV) carry out
inspection missions and intervention on known and unknown
environments, where it is important to ensure their safety. The
ability for obstacle detection and their avoidance during
navigation is a requirement for safety. In this article is presented
an obstacle detection system for the experimental vehicle Guanay
II using mechanical scanning sonar, the Tritech Micron MK.
Given that the Guanay II operates autonomously, a new software
has been designed that allows adjustment, control, acquisition and
processing of the sonar signals. Experimental tests done at sea
have allowed us to verify the correct operation of the designed
software, and to determine the optimal values of the fundamental
parameters of sonar.
CitationGalarza, C., Masmitja, I., González, J., Prat, J., Gomariz, S., Del Rio, J. Design obstacle detection system for AUV Guanay II. A: International Workshop on Marine Technology. "MARTECH 2015 : Sixth International Workshop on Marine Technology : Cartagena, September 15th, 16th and 17th". Cartagena: 2015, p. 15-18.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: email@example.com