Simulation Model of Obstacle Detection and Mapping System for AUVs

This article presents a real-time model of an obstacle detection and environmental mapping system based on image processing for an autonomous underwater vehicle (AUV). The model was based on Tritech Micron Sonar operating parameters with mechanical beam adjustment. The operation of the detection sys...

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Bibliographic Details
Published inPomiary Automatyka Robotyka Vol. 27; no. 4; pp. 19 - 26
Main Authors Kot, Rafał, Piskur, Paweł, Sigiel, Norbert
Format Journal Article
LanguageEnglish
Published 20.12.2023
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Summary:This article presents a real-time model of an obstacle detection and environmental mapping system based on image processing for an autonomous underwater vehicle (AUV). The model was based on Tritech Micron Sonar operating parameters with mechanical beam adjustment. The operation of the detection system was verified using a mathematical model of an autonomous underwater vehicle moving in the underwater environment, expressed by a test map prepared based on actual measurements of the above-mentioned sonar. The system model allows for detecting and mapping obstacles in the sonar’s field of view in real-time.
ISSN:1427-9126
DOI:10.14313/PAR_250/19