Underwater mapping using a SONAR

João Pedro Bastos Fula

doi:10.34626/2mrm-nx68

Please use this identifier to cite or link to this item: https://hdl.handle.net/10216/132779

Author(s):	João Pedro Bastos Fula
Title:	Underwater mapping using a SONAR
Issue Date:	2020-07-20
Abstract:	This study explores the physical capabilities of the beam of a mechanical scanning imaging sonar to build a map of the surrounding environment and to find the location of the vehicle within the map. The data from the sonar feed into a feature extractor and a SLAM algorithm. The SLAM algorithm is composed of an Octomaps implementation together with a particle filter. Several tests were ran within a structured environment and the map of the structured environment as well as the location of the vehicle are presented.
Description:	Este estudo explora a capacidade física do raio de um sonar mecânico para construir um mapa do ambiente envolvente e encontrar a localização do veículo nesse mesmo mapa. Os dados do sonar alimentam um extrator de pontos de interesse e um algoritmo SLAM. Esse algoritmo é composto por uma implementação de Octomaps, junto com um filtro de partículas. Vários testes foram executados dentro de um ambiente estruturado e os resultados desses testes são demonstrados neste estudo.
Subject:	Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering
Scientific areas:	Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
DOI:	10.34626/2mrm-nx68
TID identifier:	202591590
URI:	https://hdl.handle.net/10216/132779
Document Type:	Dissertação
Rights:	openAccess
Appears in Collections:	FEUP - Dissertação

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