In situ AUV survey adaptation using through-the-sensor sonar data

David P. Williams, Arjan Vermeij, Francesco Baralli, Johannes Groen, Warren L.J. Fox

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

An algorithm for the in situ adaptation of the survey route of an autonomous underwater vehicle (AUV) equipped with side-looking sonars is proposed. The algorithm immediately exploits the through-the-sensor data that is collected during the mission in order to ensure that quality data is collected everywhere in the area of interest. By introducing flexibility into the survey of the AUV, various limitations of pre-planned surveys are overcome. Experimental results demonstrate the benefit of the proposed approach in terms of higher area coverage in shorter mission times. The signal processing required by the algorithm is fast and computationally efficient such that real-time implementation is feasible. As proof, the proposed adaptive survey approach was implemented on an AUV and executed during a recent live scientific experiment at sea using real, in situ measured data. Results from this experiment are also shown.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2012 - Proceedings
Pages2525-2528
Number of pages4
DOIs
StatePublished - 2012
Event2012 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2012 - Kyoto, Japan
Duration: Mar 25 2012Mar 30 2012

Publication series

NameICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
ISSN (Print)1520-6149

Conference

Conference2012 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2012
Country/TerritoryJapan
CityKyoto
Period3/25/123/30/12

All Science Journal Classification (ASJC) codes

  • Software
  • Signal Processing
  • Electrical and Electronic Engineering

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