Design of an Acoustic-Homing Autonomous Surface Vessel

We designed, built, and conducted trials on an acoustic-homing autonomous surface vessel. After characterizing the performance of a commercially available kayak hull, we installed power, propulsion, and control systems for autonomous operation. The acoustic tracking payload was built up from basic c...

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Bibliographic Details
Main Authors: Cooney, L., Stanway, M.J., Augenbergs, P., Brundage, H., Downey, B., Pennington, T., Stefanov-Wagner, T., Tobias, D.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Frequency
Marine
Microcontrollers
Mobile communication
Payloads
Propulsion
Sea surface
Target tracking
Underwater acoustics
Underwater vehicles
Online Access:Request full text
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Summary:We designed, built, and conducted trials on an acoustic-homing autonomous surface vessel. After characterizing the performance of a commercially available kayak hull, we installed power, propulsion, and control systems for autonomous operation. The acoustic tracking payload was built up from basic components. We overcame hardware limitations in the microcontrollers and demonstrated acceptable average accuracy in locating the acoustic target. This project demonstrated the feasibility of the overall goal of using a small surface vessel to follow a submerged acoustic beacon
ISSN:0197-7385
DOI:10.1109/OCEANS.2006.307027