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dc.contributor.authorGalarza, Cesar
dc.contributor.authorMasmitjà Rusiñol, Ivan
dc.contributor.authorGonzález, J.
dc.contributor.authorPrat Tasias, Jordi
dc.contributor.authorGomáriz Castro, Spartacus
dc.contributor.authorRío Fernandez, Joaquín del
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica
dc.identifier.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.
dc.description.abstractThe 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.extent4 p.
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Adquisició i detecció del senyal
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles
dc.subject.lcshAutonomous vehicles
dc.subject.lcshSignal processing
dc.subject.otherAUV Guanay II
dc.subject.otherSonar MK3
dc.subject.otherObstacle detection
dc.subject.otherAcquisition and signal processing
dc.subject.otherAutomatic operation
dc.titleDesign obstacle detection system for AUV Guanay II
dc.typeConference report
dc.subject.lemacControl automàtic
dc.subject.lemacVehicles submergibles
dc.subject.lemacRobots -- Programació
dc.contributor.groupUniversitat Politècnica de Catalunya. Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació (SARTI)
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
local.citation.authorGalarza, C.; Masmitja, I.; González, J.; Prat, J.; Gomariz, S.; Del Rio, J.
local.citation.contributorInternational Workshop on Marine Technology
local.citation.publicationNameMARTECH 2015 : Sixth International Workshop on Marine Technology :  Cartagena, September 15th, 16th and 17th

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