NPS ARIES Forward Look Sonar Integration

Abstract : This work integrated an experimental Blazed Array Forward Looking Sonar (FLS) developed by the University of Washington, Applied Physics Laboratories into the ARIES autonomous underwater vehicle (AUV). Experiments were conducted and data were gathered using this sonar in a variety of environments. The images generated were analyzed to provide information for use in the further development of forward look obstacle detection and avoidance technologies. The year-end goal of the project was to collect FLS data and make it available to researchers interested in developing obstacle avoidance behaviors for AUVs. To develop robust obstacle avoidance algorithms for underwater vehicles it is necessary to understand how the sonar performs on an underway underwater vehicle and to have a sample data set from an underway vehicle for the developmental modeling and simulation of vehicle control and image processing. The approach was to bring together a team from the University of Washington and the Naval Postgraduate School to integrate a low power, small forward looking sonar into the ARIES AUV. They decided on quarterly collections which would culminate in the permanent installation of the Blazed Array onto the ARIES AUV so that the vehicle could be used continuously for data collection, the evaluation of obstacle avoidance behaviors, and eventually, concurrent mapping and localization.