Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/58866
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Type: Conference paper
Title: Automatic object detection for AUV navigation using imaging sonar within confined environments
Author: Zhao, S.
Lu, T.
Anvar, A.
Citation: Proceedings from the IEEE Conference on Industrial Electronics and Applications (ICIEA) 2009: pp.3648-3653
Publisher: IEEE
Publisher Place: Singapore
Issue Date: 2009
ISBN: 9781424428007
Conference Name: IEEE Conference on Industrial Electronics and Applications (4th : 2009 : Xi'an, China)
Statement of
Responsibility: 
Shi Zhao, Tien-Fu Lu and Amir Anvar
Abstract: Navigation is a crucial issue for the operation of autonomous underwater vehicle (AUV). Range sensors mounted on an AUV can provide real-time information about the surroundings. The use of an active sonar sensor in an enclosed shallow water environment results in received echoes that may reflect several times before attenuation. Furthermore, echo intensities from boundaries are much higher than those from targets, which impedes their detection. This paper presents an innovative method for the detection of underwater objects (in this case, spherical shapes) in such environments for AUV navigation. A mechanically scanning sonar sensor was used in laboratory based trials. Experiments have been conducted in a cylindrical water-tank with an elliptical cross section. Results indicate that the presented method leads efficient and stable detection of both quiescent and moving objects. Potential applications include the detection of targets inside shipwrecks and/or hostile environments, e.g. discovering suspicious objects in the shallow water near harbor areas or water channels connected to the sea.
Keywords: Target detection; AUV; active sonar; Navigation
Rights: ©2009 IEEE
RMID: 0020096712
DOI: 10.1109/ICIEA.2009.5138887
Appears in Collections:Mechanical Engineering conference papers

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