Design of an Underwater Object Detection and Location System using Wide-Beam SONAR

[摘要] ENGLISH ABSTRACT:This thesis describes the second project relating to the development of a SONAR (SOund NavigationAnd Ranging) object detection and collision avoidance system for use on an AUV (AutonomousUnderwater Vehicle) at Stellenbosch University. The main goal is to develop and test techniquesthat make use of the existing SONAR laboratory platform and wide-beam SONAR transducers todetect and locate objects and their limits/bounds under water in the horizontal plane. The resultsof the work done show that it is possible to use wide-beam transducers to locate the centroidand edges of a flat target with an error that is significantly smaller than the beam-width. Thetechniques developed will enable the development of a cost-effective SONAR system that can beimplemented on an AUV.

[发布机构] Stellenbosch University