Table of Contents
ISRN Robotics
Volume 2013 (2013), Article ID 959808, 10 pages
http://dx.doi.org/10.5402/2013/959808
Research Article

Design and Development of a Littoral AUV for Underwater Target Localization and Homing Using Vision and SONAR Module

Delhi Technological University, New Delhi 110042, India

Received 30 August 2013; Accepted 1 October 2013

Academic Editors: G. C. Gini, J.-S. Liu, and F. Torres

Copyright © 2013 R. K. Sinha et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper presents the design and development of a modular littoral autonomous underwater vehicle called “ZYRA” having six degrees of freedom for performing the following tasks underwater: target (sound sources emitting frequencies between 1 Hz and 180 KHz) localization and homing, buoy detection. The development of the AUV has been divided into, namely, five sections: mechanical design and fabrication, embedded and power systems, control and software, image processing, and underwater acoustics. A fully functional AUV has been tested in a self-created arena with different tasks spread out in a shallow water environment. Two different kinds of experimental results have been presented: first the experimental results of the SONAR module and second based on the number of successful outcomes per total number of trials for each task.