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Advanced Adaptive Sonar for Mapping Applications

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Abstract

An advanced adaptive sonar module is described, capable of being configured to different circumstances and distances according to reflectors found in the environment. Thanks to the sensory distribution, it is possible to identify three basic types of reflector (planes, edges and corners). Furthermore, a heuristic map of the environment is built. The proposed methods have been computationally optimized, and implemented in a real-time system based on a Field-Programmable Gate Array (FPGA) and a Digital Signal Processor (DSP). Results have been obtained in the detection, classification and mapping of obstacles; and finally testing has been carried out on a commercial vehicle.

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Authors and Affiliations

  1. Electronics Department, University of Alcalá, 28806, Alcalá de Henares, Spain

    A. Hernández, J. Ureña, M. Mazo, J. J. García, A. Jiménez, J. A. Jiménez & M. C. Pérez

  2. Department of Electrical Engineering, Electronics and Automatics, University of Extremadura, 06071, Badajoz, Spain

    F. J. Álvarez

  3. Electronics Department, National University of the Patagonia San Juan Bosco, 9005, Comodoro Rivadavia, Argentina

    C. De Marziani

  4. LASMEA Laboratory (UMR 6602 CNRS), Blaise Pascal University, 63177, Aubière Cedex, France

    J. P. Dérutin & J. Sérot

Authors
  1. A. Hernández
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  2. J. Ureña
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  3. M. Mazo
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  4. J. J. García
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  5. A. Jiménez
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  6. J. A. Jiménez
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  7. M. C. Pérez
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  8. F. J. Álvarez
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  9. C. De Marziani
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  10. J. P. Dérutin
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  11. J. Sérot
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Correspondence to A. Hernández.

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Hernández, A., Ureña, J., Mazo, M. et al. Advanced Adaptive Sonar for Mapping Applications. J Intell Robot Syst 55, 81–106 (2009). https://doi.org/10.1007/s10846-008-9291-9

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  • DOI: https://doi.org/10.1007/s10846-008-9291-9

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