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Abstract
Autonomous underwater robots have more outstanding benefits than research ships for benthonic detection. A key problem is how to better use the detection senor on the robot, such as the multi-beam sonar. However, the application method for multi-beam sonar on the underwater robot has not been introduced in detail until now. The techniques for the application of detection equipment are discussed and studied, and the main contents include interface, installation, acoustic synchronization, system error amending, and survey line design. The fine topographic maps were obtained from the multi-beam sonar on the robot. The trials show the validity of the proposed techniques.
Acknowledgements
We are grateful to Huixi Xu, Tiejun Liu, Yijun Xu, Yankai Yu, Dayong Liu, Lei Wang, and Yuan Yin of Shenyang Institute of Automation, CAS for engineering help.
Funding
This work was supported by Natural Science Foundation of China under Awards 51309215.