Author Type

Graduate Student

Date of Award

2000

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

An, Edgar

Abstract

This thesis describes the implementation of a commercially available forward looking sonar (FLS) in an autonomous underwater vehicle (AUV) modified for the task of reactive obstacle detection. Any obstacle lying in the vehicle's path is a potential mission-terminating threat. Inclusion of a forward looking sensor would provide valuable information to the AUV. Threat assessment and navigation would use this information in order to avoid obstacles. The system used for this project is an 8-element transducer FLS at 200 kHz. The sonar control software is done in DOS on a dedicated personal computer in a PC/104 form factor. A variable cell-size grid occupancy search method is used to detect objects in the vehicle path. This thesis describes how this sonar is used for the obstacle detection task (software), how it is integrated (hardware and network) in the AUV and what are the results obtained with the system.

Extent

187 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.)--Florida Atlantic University, 2000.|College of Engineering and Computer Science

Identifier

FADT12691

Format

pdf

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