Multiple obstacles detection using fuzzy interface system for AUV navigation in natural water

Author

Zhao, Shi ; Lu, Tien-Fu ; Anvar, Amir

Author_Institution

Sch. of Mech. Eng., Univ. of Adelaide, Adelaide, SA, Australia

fYear

2010

fDate

15-17 June 2010

Firstpage

50

Lastpage

55

Abstract

The detection of small moving targets, such as hazardous objects, is a challenging problem for sonar surveillance used by maritime robots´ navigation in shallow water. This phenomenon is due to the ambient sea noise and reverberation. This paper presents a fuzzy algorithm to automate detection of underwater multiple objects using Mechanical Scanned Imaging Sonar (MSIS). Returned sound waves were evaluated by a fuzzy interface system (FIS). Two parameters: the Pulse length and Maximum intensity are selected as linguistic variables for the fuzzy system. The data used in this paper were collected in a natural river which is about 3 meters depth. Results demonstrate good, reliable and fast performances of the proposed algorithm.

Keywords

collision avoidance; fuzzy logic; mobile robots; neural nets; remotely operated vehicles; sonar imaging; underwater vehicles; AUV navigation; autonomous underwater vehicles; fuzzy interface system; maritime robot navigation; maximum intensity parameter; mechanical scanned imaging sonar; multiple obstacles detection; pulse length parameter; sonar surveillance; Acoustic noise; Fuzzy systems; Object detection; Reverberation; Rivers; Robotics and automation; Sonar detection; Sonar navigation; Surveillance; Underwater tracking; AUV; FIS; imaging sonar target detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2010 the 5th IEEE Conference on

Conference_Location

Taichung

Print_ISBN

978-1-4244-5045-9

Electronic_ISBN

978-1-4244-5046-6

Type

conf

DOI

10.1109/ICIEA.2010.5515001

Filename

5515001