With the continuous and intensive development of ocean exploration, ROV (Remote Operated Vehicle) has become an important underwater carrier equipment and is widely used in underwater terrain survey and underwater target capture, etc. In this paper, we establish an environmental target recognition system based on forward looking sonar to ensure the safe navigation of ROV. The system consists of two components: hardware structure and software module. The hardware structure contains the equipments required by the system and the connections among them. The software module is used to process sonar image, including image preprocessing, target detection and positioning and navigation decision making. The pool test is carried out to validate the efficiency of the target detection and positioning algorithm. Meanwhile, we conduct a sea trial using ROV with the environmental target recognition system, results show that the ROV can take actions in a safe manner based on the navigation decisions.
Environmental Target Recognition System for ROV Based on Forward Looking Sonar
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Chapter : 106 ; 1169-1182
2023-03-10
14 pages
Article/Chapter (Book)
Electronic Resource
English
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