Investigation of forward looking SONAR for intelligent underwater robot navigation
Ever since the Japanese began an aggressive research and development in the 1980s, Automated Underwater Vehicles (AUVs) have been gaining its popularity exponentially. However, as technology progresses, so much more can be done to develop the AUVs such that it can be used to execute more intricate t...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2024
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| Online Access: | https://hdl.handle.net/10356/181672 |
| _version_ | 1826113339663581184 |
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| author | Siti Jannatul Arfiyah Binti Moharum |
| author2 | Cai Yiyu |
| author_facet | Cai Yiyu Siti Jannatul Arfiyah Binti Moharum |
| author_sort | Siti Jannatul Arfiyah Binti Moharum |
| collection | NTU |
| description | Ever since the Japanese began an aggressive research and development in the 1980s, Automated Underwater Vehicles (AUVs) have been gaining its popularity exponentially. However, as technology progresses, so much more can be done to develop the AUVs such that it can be used to execute more intricate tasks, especially to thwart the mortality rate caused during underwater missions. One concern here though, would be to ensure that the cost is low, but it is still maintained to be highly efficient. This project aims to utilise readings collated from an Oculus M1200d Dual-Frequency Multibeam Forward-Looking SONAR (FLS) and characterise it such that it can produce an AUV capable of Simultaneous Localisation and Mapping (SLAM) in real time. It explores various factors such as the walls of the water body environment, the distance of robot from SONAR and quality of readings attained from the SONAR. This project aims to provide a summary and guidelines for the usage of the FLS in future developments of the autonomous underwater robot system. |
| first_indexed | 2025-03-09T10:49:50Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/181672 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-03-09T10:49:50Z |
| publishDate | 2024 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1816722024-12-14T16:52:56Z Investigation of forward looking SONAR for intelligent underwater robot navigation Siti Jannatul Arfiyah Binti Moharum Cai Yiyu School of Mechanical and Aerospace Engineering MYYCai@ntu.edu.sg Engineering Underwater Robot Ever since the Japanese began an aggressive research and development in the 1980s, Automated Underwater Vehicles (AUVs) have been gaining its popularity exponentially. However, as technology progresses, so much more can be done to develop the AUVs such that it can be used to execute more intricate tasks, especially to thwart the mortality rate caused during underwater missions. One concern here though, would be to ensure that the cost is low, but it is still maintained to be highly efficient. This project aims to utilise readings collated from an Oculus M1200d Dual-Frequency Multibeam Forward-Looking SONAR (FLS) and characterise it such that it can produce an AUV capable of Simultaneous Localisation and Mapping (SLAM) in real time. It explores various factors such as the walls of the water body environment, the distance of robot from SONAR and quality of readings attained from the SONAR. This project aims to provide a summary and guidelines for the usage of the FLS in future developments of the autonomous underwater robot system. Bachelor's degree 2024-12-12T22:56:29Z 2024-12-12T22:56:29Z 2024 Final Year Project (FYP) Siti Jannatul Arfiyah Binti Moharum (2024). Investigation of forward looking SONAR for intelligent underwater robot navigation. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/181672 https://hdl.handle.net/10356/181672 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering Underwater Robot Siti Jannatul Arfiyah Binti Moharum Investigation of forward looking SONAR for intelligent underwater robot navigation |
| title | Investigation of forward looking SONAR for intelligent underwater robot navigation |
| title_full | Investigation of forward looking SONAR for intelligent underwater robot navigation |
| title_fullStr | Investigation of forward looking SONAR for intelligent underwater robot navigation |
| title_full_unstemmed | Investigation of forward looking SONAR for intelligent underwater robot navigation |
| title_short | Investigation of forward looking SONAR for intelligent underwater robot navigation |
| title_sort | investigation of forward looking sonar for intelligent underwater robot navigation |
| topic | Engineering Underwater Robot |
| url | https://hdl.handle.net/10356/181672 |
| work_keys_str_mv | AT sitijannatularfiyahbintimoharum investigationofforwardlookingsonarforintelligentunderwaterrobotnavigation |