Design and Development of a Littoral AUV for Underwater Target Localization and Homing Using Vision and SONAR Module. (18th December 2013)

• Record Type: Journal Article
• Authors: Sinha, R. K.; Jha, Aayush; Ahmad, Faheem; Mishra, Vivek; Murgai, Prateek; Rustagi, Vatsal; Saini, Raj Kumar; Jain, Akshay
• Other Names: Gini G. C. Academic Editor.; Liu J.-S. Academic Editor.; Torres F. Academic Editor.
• Is Part Of: ISRN robotics. Volume 2013(2013)
• Publication Date: 2013-12-18
• Subjects: Robotics -- Periodicals; Robotics; Electronic journals; Periodicals; 629.892
• DOI: 10.5402/2013/959808
• Languages: English
• ISSNs: 2090-8806

Abstract

Abstract : This paper presents the design and development of a modular littoral autonomous underwater vehicle called "ZYRA" having six degrees of freedom for performing the following tasks underwater: target (sound sources emitting frequencies between 1 Hz and 180 KHz) localization and homing, buoy detection. The development of the AUV has been divided into, namely, five sections: mechanical design and fabrication, embedded and power systems, control and software, image processing, and underwater acoustics. A fully functional AUV has been tested in a self-created arena with different tasks spread out in a shallow water environment. Two different kinds of experimental results have been presented: first the experimental results of the SONAR module and second based on the number of successful outcomes per total number of trials for each task.