Evaluation of an acoustic detection algorithm for reactive collision avoidance in underwater applications
Name
864756715-MIT.pdf
Description
Full printable version
Size
2.72 MB
Format
Adobe PDF
Checksum (MD5)
d568ba4e0ea89d7aaded5075fa5a2548
Author(s)
Viquez Rojas, Oscar Alberto
Advisor(s)
Henrik Schmidt.
Date Issued
2013
Publisher
Massachusetts Institute of Technology
Abstract
This thesis sought to evaluate a vehicle detection algorithm based on a passive acoustic sensor, intended for autonomous collision avoidance in Unmanned Underwater Vehicles. By placing a hydrophone at a safe distance from a dock, it was possible to record the acoustic signature generated by a small motor boat as it navigated towards, and then away from the sensor. The time-varying sound intensity was estimated by Root Mean Square of the sound amplitude in discrete samples. The time-derivative of the sound intensity was then used to estimate the time to arrival, or collision, of the acoustic source. The algorithm was found to provide a good estimate of the time to collision, with a small standard deviation for the projected collision time, when the acoustic source was moving at approximately constant speed, providing validation of the model at the proof-of-concept level.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 33).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
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