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Design obstacle detection system for AUV Guanay II
dc.contributor.author | Galarza, Cesar |
dc.contributor.author | Masmitjà Rusiñol, Ivan |
dc.contributor.author | González, J. |
dc.contributor.author | Prat Tasias, Jordi |
dc.contributor.author | Gomáriz Castro, Spartacus |
dc.contributor.author | Río Fernandez, Joaquín del |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica |
dc.date.accessioned | 2015-10-01T11:12:16Z |
dc.date.available | 2015-10-01T11:12:16Z |
dc.date.issued | 2015 |
dc.identifier.citation | Galarza, 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. |
dc.identifier.isbn | 978-84-608-1708-6 |
dc.identifier.uri | http://hdl.handle.net/2117/77240 |
dc.description.abstract | 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. |
dc.format.extent | 4 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Adquisició i detecció del senyal |
dc.subject | Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles |
dc.subject.lcsh | Submersibles |
dc.subject.lcsh | Autonomous vehicles |
dc.subject.lcsh | Signal processing |
dc.subject.other | AUV Guanay II |
dc.subject.other | Sonar MK3 |
dc.subject.other | Obstacle detection |
dc.subject.other | Acquisition and signal processing |
dc.subject.other | Automatic operation |
dc.title | Design obstacle detection system for AUV Guanay II |
dc.type | Conference report |
dc.subject.lemac | Control automàtic |
dc.subject.lemac | Vehicles submergibles |
dc.subject.lemac | Robots -- Programació |
dc.contributor.group | Universitat Politècnica de Catalunya. SARTI - Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació |
dc.description.peerreviewed | Peer Reviewed |
dc.rights.access | Open Access |
local.identifier.drac | 16943156 |
dc.description.version | Postprint (published version) |
local.citation.author | Galarza, C.; Masmitja, I.; González, J.; Prat, J.; Gomariz, S.; Del Rio, J. |
local.citation.contributor | International Workshop on Marine Technology |
local.citation.pubplace | Cartagena |
local.citation.publicationName | MARTECH 2015 : Sixth International Workshop on Marine Technology : Cartagena, September 15th, 16th and 17th |
local.citation.startingPage | 15 |
local.citation.endingPage | 18 |