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.


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    Title :

    Design and Development of a Littoral AUV for Underwater Target Localization and Homing Using Vision and SONAR Module


    Contributors:
    Sinha, R.K. (author) / Jha, Aayush (author) / Ahmad, Faheem (author) / Mishra, Vivek (author) / Murgai, Prateek (author) / Rustagi, Vatsal (author) / Saini, Raj Kumar (author) / Jain, Akshay (author) / Gini, G.C. (author) / Liu, J.S. (author)

    Published in:

    ISRN Robotics ; 2013 ; 1-10


    Publication date :

    2013


    Size :

    10 Seiten, 10 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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