Benthic boundary tracking using a profiler sonar
نویسندگان
چکیده
The paper presents signal processing and control algorithms that enable autonomous tracking of the boundaries between distinct benthic regions by an AUV equipped of a profiler sonar. A novel sonar classification algorithm is presented, which uses the signature of the ocean floor in the incoming profilers to discriminate between distinct materials. By exploiting sonar scans of the region below the robot, a classical control loop is closed around the sonar classifications, using a feedback signal that is robust with respect to classification ''noise''.
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