Title :
Auto-orientation of an acoustically sensitive robotic wrist in a multipath environment
Author :
Collins, James S. ; Randell, Charles J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada
Abstract :
Auto-orienting robotic wrists are useful for mounting instrumentation modules whose operation depends on being accurately oriented in a time varying direction of interest. Such instrumentation includes video and narrow-beam communication systems as might be used on autonomous vehicles. This paper describes an underwater wrist which depends on an ultrashort baseline acoustic array for auto-orientation toward the first arrival of a sound burst in a multipath environment
Keywords :
acoustic arrays; hydrophones; manipulators; marine systems; mobile robots; path planning; underwater sound; acoustically sensitive robotic wrist; auto-orienting robots; autonomous vehicles; instrumentation modules; multipath environment; narrow-beam communication systems; sound burst; time varying direction; ultrashort baseline acoustic array; underwater wrist; Acoustical engineering; Direction of arrival estimation; Gain; Instruments; Military computing; Oceans; Robot sensing systems; Sonar equipment; Underwater acoustics; Wrist;
Conference_Titel :
OCEANS '93. Engineering in Harmony with Ocean. Proceedings
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-1385-2
DOI :
10.1109/OCEANS.1993.326112
