Miniature sonar for obstacle detection on samll AUV Maya
IR@NIO: CSIR-National Institute Of Oceanography, Goa
View Archive Info| Field | Value | |
| Creator |
Afzulpurkar, S.
Desa, E. Navelkar, G. Mascarenhas, A.A.M.Q. Maurya, P.K. Martins, H. Madhan, R. Prabhudesai, S. Pinto, R. Marchon, N. |
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| Date |
2008-01-31T04:48:35Z
2008-01-31T04:48:35Z 2007 |
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| Identifier |
Proceedings of the International Symposium on Ocean Electronics (SYMPOL-2007), 11-14 December, 2007, eds. Pillai, P.R.S.; Supriya, M.H. 244-249p.
http://drs.nio.org/drs/handle/2264/712 |
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| Description |
Autonomous platforms are increasingly able to collect in-situ data with least disturbance to the parameters under measurements. To attain high level of autonomy they need to posses capabilities to detect and avoid obstacles and carry out planned tasks. In this paper we describe the use of miniature two-dimensional scanning sonar, Micron, to generate obstacle information for Maya, the small AUV designed and built at National Institute of Oceanography, India. Micron is completely programmable in terms of frequency, range, resolution and intensity and is mounted on the tip of the free flooding nosecone of Maya. It is connected to a microcontroller node, which fully controls the setup and operation of sonar through a water matable connector on the endplate. Every ping, the node extracts range, bearing data to any obstruction and stores the same on resident memory. The extension of object is calculated from the successive scan data. Software programmed into the node generates heading changes that are communicated to the mission computer of Maya which uses a distributed CAN network architecture for internal subsystem communications. The mission computer can use this new heading data for navigation accordingly.
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| Language |
en
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| Publisher |
Allied
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| Subject |
underwater vehicles
oceanographic equipment sonar acoustic equipment |
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| Title |
Miniature sonar for obstacle detection on samll AUV Maya
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| Type |
Conference Article
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