A 3D mapping, obstacle avoidance and acoustic communication payload for the AUV SPARUS II

• Main Authors: Massot Campos, Miquel, Bonin Font, Francisco, Negre Carrasco, Pep Lluís, Guerrero, Eric, Martorell, Antoni, Oliver Codina, Gabriel Antonio
• Format: Conference Object
• Language: English
• Published: SARTI 2016
• Subjects: Àrees temàtiques de la UPC::Enginyeria electrònica::Instrumentació i mesura::Sensors i actuadors; Àrees temàtiques de la UPC::Enginyeria electrònica::Optoelectrònica::Làser; Àrees temàtiques de la UPC::Física::Acústica::Sonar; Autonomous vehicles; Submersibles; Autonomous Underwater Vehicle; Sonar; USBL; Stereo Vision; Laser; Robots autònoms; Vehicles submergibles; Turbot
• Online Access: http://hdl.handle.net/2117/99914

This paper presents the new payload for Turbot, the SPARUS II AUV unit, manufactured by the University of Girona and recently acquired by the Systems, Robotics and Vision Group of the University of the Balearic Islands. The new payload has been entirely designed and integrated to host all elements necessary to perform visual 2D/3D mapping, optical (visuallaser) object reconstruction, acoustic and visual obstacle avoidance, and acoustic localization and communication. Several experiments in shallow waters of Mallorca show the validity of the sensor integration and operation for all the required tasks. Peer Reviewed