| Title: | OS20-4 AUV Homing Using Acoustic Chirp Signal |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 783-785 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS20-4 |
| Author(s): | Koji Masuda, Yuya Nishida, Takashi Sonoda, Kazuo Ishii |
| Publication Date: | February 2, 2018 |
| Keywords: | AUV, homing control, charp signal |
| Abstract: | For autonomous underwater vehicle (AUV), high autonomy is required in order to accomplish mission such as inspection, observation, manipulation under extreme environments, deep-ocean. One of necessary function for AUV is acoustic navigation. In this paper, we conducted homing experiments using a small AUV and acoustic pinger with chirp signal. The chirp signal has the feature that the frequency of signal change gradually, so that the signal is suitable to calculate the correlation between the time difference between hydrophones. The homing experiments are carried out and evaluated through tank tests. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS20/OS20-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.