Sonar Based Navigation

77 Pages·2001·0.78 MB·English

Sonar Based Navigation: Follow The Leader Solution for
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ECNE IRFCEOSTSAM

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Abstract

nsinoitacilp p fato oglnidn ief ryatilibap aeclib ohmt iswtob osruomonotuA
gnitnu ayadlu r sttiob oharc u fsnogis e.Desnef edd neaca p,senicid e,mgnirutcafunam
tnemnoriv ns ethit itwcaret nos itathob oe rhetsuac exbelpm osecius se ih.Tksat neh w
e hgtniv olmiat ntehg itmob orar onfoitacilp pealbiss oep h fteo nkOs aet hgtnimrofrep
sanae e esdblu oncoitagiv ahnc u.Sht aepf adsedic eydllaciman yhadguor httobor
dic etds ugajno lnaoitanits edderis eoasdttob oerlib o fmsoeir efagsonidiug ef adse
elcats bd onganinna lhpt afapoe re ahnetin onde es bashkr ohwcraes esruorem u.Nhtap
derolpxe n,unwonk nhauguor hytltnegillet ntiob ogarnitagiv arn osfmhtirog leacnadiova
nemeriuq eer hgtnillifl usfdraw oetn osd akwr ohwcraes esri h.TtnemnorivnE t of
thacraes esRcitob or Rorfetn ee Ch.Treda eglni v woaomll ootftob oerli b goanmingised
e hrt o IftIacra edBem atnob oerlib otamli usb aihtannicn i fCyotisrevi neUht
r onfoitaicos se Ahydtbetcudn ogcni enboititepm osCcitob odRnuo rlGanoitanretnI
mnU ItIacra ee Bhetk aosemtivitcej be oh.Tra eyyre v)eSVU As(mets ydSnuo rdGenna
f oecnatsi defa sagniniatnia melih wsegdu jeh tf oen oy bnevir drewo mnwa lawollof
doner otcan iurmoemcudsn acritnosar tdliuo r.a s lArtoe uPt3oebma - hr tonitawom
refdocne eedback was used to track the co - e dhrntead a eenfhlooti t dosnmeatanidro
err odfetsuj dyalbati u ssmiets ygsnireets - dex ie fhntiatni aodm tntaob oe rhgtnitneiro
nr sw ategofenahnnohotikts d.earheeTr dtdea onhenebatlehoetr wetcenbatsid
batsujda d eoetthoatcls nseaerr lateglna - e h.Treda ee lhfntooit oemvital ed rneatanidro
e hnttiob oe rhrtee torstot otmhg id rntaf ee lhstevi rydlbati ursellortn oC cMlDilaG
ets ytsnedneped neilbat r soadple inygis esdi h.Tdee prsepo rtd pannaoitcer irdeporp ,m
2
eak irlosn e fsdon itknereff iyd nhat idwecalp e rrdoetarget nyilbati u esdblu ohccihw
.reda ee lhfntooit od mnnaoitis oe phntiatrec sdalu ohcci h,wrosn ersesal
3
Acknowledgments

v ath odnlu odw neacneirep xgeninra eglnitseret n ninae esb akhr oswihT elbisso pnee be
o hswrebm emma estuoir ae vhydtbedivo repcnadi ud gnpal e,htropp ue shttuohtiw
denraec n .yitIMsaIcr als e l aIBsetIawaIcr agnenoBik ryolwtner r eu drcdnaeakrow
ul asv irh olfl aeHin r.E rrDosiv dsAise h y To motogs leadutita rtgsepeed ,ecnadi ueglba
woll osfi httnemelp mdi neazilautpecn o,ceviecn o ocgtnipl e nheicnatsis sda ntaroppus
eettimm oscise h yt fmsorebm eem hrt osfkna h ytsmserp xoes l.Iamhtirog lraeda eelht
dtenn sbaudulj u.tokIw rhocwrae sse irsnhnitoitseg gruis erhotf ta hy fttaIinsemetatsre
kihtr a oK otsgkna hltaice p ys.Msise h ytgmnipa h nsti o ealdmepl eshtnemm orcieht
ngis er donfoitamrof nd intanemegaruoc nfeeocru otsnatsn oys cmao whuwrugaramuK
er a,psdnei r yofsmte oegdutita rtgleftra ey.hMmets yssi hfto latnemurts ngini erb osftn
.sise hsti hettelpm o oc etgmnipl enhi

4
Table of Contents

n o.i1tcudortnI ................................ ................................ ................................ ................. 7
1.1 noitavitoM ................................ ................................ ................................ ....... 7
1.2 :evitcejbO ................................ ................................ ................................ ........ 8
3.1 me:ltbnoermPetatS ................................ ................................ ............................... 8
ran odSe nstoaciBetjcbeOteD ................................ ................................ ..................... 9
noit a 5zf.io1n asg:irshOitsehT ................................ ................................ ................. 10
noitag i.v2aN - neowrieu titdcv anueradReotritLnI ................................ ....................... 11
s1e.l2picn niforoiPtagivaN ................................ ................................ ...................... 11
1.1.2weivrevO ................................ ................................ ................................ ...... 11
2 .e1m. a2enrc oFnri eotrraoegffievRaN ................................ ............................... 12
kra m3d.n1a.L2 - desaBnoitagivaN ................................ ................................ ......... 12
2.2 ntooibtoaRgivaN ................................ ................................ ................................ 13
e l dc1ei.dh2ie.uV2G s ................................ ................................ ........................... 13
no id2te. as2eg a.cisnB2n veaenamiroNaserefFterRaC ................................ ......... 13
nk3or .iad2tme.ads2gnaiaBvLaN ................................ ................................ ......... 15
1gs.ne3iu.rq2ei.tn2shucleCT ................................ ................................ ............ 15
2. 3l.a2u.t2pgencirseaPilA ................................ ................................ ................ 15
tne mn mpg3 eoidtlsnseeayvDSeD ................................ ................................ ............... 17
me tlslyas r1ee.hv3To ................................ ................................ ............................... 17
gc2mni.ein 3tgod snsieyaaohSRrrTtallUoP ................................ ............................. 17
l 3or.ro3ttnooMC ................................ ................................ ................................ ...... 20
4 lgonmris tridnennoeaaCthSceM ................................ ................................ ........... 21
1w.e4ivrevO ................................ ................................ ................................ ............. 21
4.2 Design ................................ ................................ ................................ ........... 21
4.3 nloomiretttonsMoyCS ................................ ................................ ................. 22
4.4 meltesdyoSM ................................ ................................ ................................ 22
1.r 4ee.dh4oTcnE ................................ ................................ ................................ . 25
2r.e4l .le4ohrTtnoC ................................ ................................ .............................. 26
5 . e4KrDaSwtWfioKS ................................ ................................ ............................. 27
1w.e5ivrevO ................................ ................................ ................................ ............. 30
rl2roe.asd5nnooemSs ................................ ................................ .............................. 30
3 r.ya5hnWoS - y dnuotsS ira pAmoC ................................ ................................ ....... 32
y m4rr e.noadt5gennsihoaysTSSeD ................................ ................................ ........ 33
1. 4 r .nae:5olhltuTescdiroPiMC ................................ ................................ ........... 35
5.6 suoiverP noi tka r g dorineWavisnaaoNBS ................................ ..................... 36
5.5n omiettpsiyrScseD ................................ ................................ .............................. 39
s n6o .il5taacrietdciasrnPoC ................................ ................................ ...................... 40
mh t dgi.cnnr6i aio rgewgreoholodLtlAfaleoLF ................................ .......................... 42
y1r.o6ehT ................................ ................................ ................................ ................. 42
6.2 stluseR ................................ ................................ ................................ ........... 49
.7 CRGIn oSiVtUiAtepmoC ................................ ................................ ......................... 52
s t2 n.tne 7si veeCEhtRtnGoIc ................................ ................................ .................. 52
sluloam ho1Cn.o2t.u7A egnenoititepmoC ................................ ............................. 53
1.1.w2e.i7vrevO ................................ ................................ ............................... 53
5
.2.1.2 .E7LCIHE:VLORTNOC ................................ ................................ ......... 53
E.:L3EC.SA1RT.US2OB.CO7 ................................ ................................ ........ 54
no iw2to.i l2trel.eeho7pdtFmaoeCL ................................ ................................ ..... 56
e1v.i2t.c2e.j7bO ................................ ................................ ............................... 56
2 .t2s.er2gi.aF7tS ................................ ................................ .............................. 57
Phase II - ecn gad nnn yieaeawtewonrdliFalaeoMHF ................................ ............ 57
3.2.2 .d8noceSegatS ................................ ................................ .......................... 57
7.2.3 daoR snioribteiDtepmoC ................................ ................................ ....... 58
7.4 noita rraopfer P10t0s2etnoc ................................ ................................ .......... 59
secnerefeR ................................ ................................ ................................ .................... 62
xidneppAA ................................ ................................ ................................ ................... 67
tnaveleRsmargorP ................................ ................................ ................................ ........ 67

List of Figures
giF m.ma1ertgsayiSD ................................ ................................ ................................ .. 18
giF .dn2i omoriarotrascglneaoeniPSnDoC ................................ ................................ .. 19
gi mF ne.ot3istyoSM ................................ ................................ ................................ .... 23
g i.kFln ei.dl4ouMmiS ................................ ................................ ................................ . 27
ec n noyipcsn ee aRu6nq.peegoprioOFFL ................................ ................................ ... 29
giF .rl8aendooSM ................................ ................................ ................................ ........ 31
m eggtni s iFry.gaS9nnaoRS ................................ ................................ ........................ 34
nloaSci p.gy0iT1F ra maeBnrettaP ................................ ................................ .............. 36
ngnr ioedF it ir.ttfoa1aaorn1iPaodlSaoRP ................................ ................................ ... 37
s rl o adttrtnc cinaeyae eftFhngmfito inel fFoa.oru2iq1vntE l aenhgiS ......................... 41
no igtia Ft fnc oegit.sntc3eiae1rkmjpcebeahORrcTS ................................ ................... 43
giF .41 noitatn egsneirgpnearR ................................ ................................ ...................... 44

List of Tables
elb atTn e .emg1cennriausRtsuAsaNieODMS ................................ ............................. 50
T s neyolt ib i s tta.ctl tni2oaercesleoe roehfjtePVwbafOfid ................................ .......... 51
elbaT s. n3coiiftfaalroTiV ................................ ................................ ............................ 55

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1. Introduction

1.1 noitavitoM

ta hytgolonhc eetriuq esrmets yysawhg idhetamotuA dn amro fo tselcihe vswoll a
tro hysr ehvt irweh thoc aweoll oyflsuomonot usaelcih ehvci h nw"i,snootal pn"iatniam
gnida ee l hoettgn atrs usmelcih egvniwoll oe fh.Tsret eo m wsttaro hs,sas’yawdaeh
vredn uyletarucc ayre vyawdae heh tniatnia mdn aselcihev ,noitarelec c,asdee pgsniyra
.srekr aemn aylawhg ieh hktca r otgtniree tesli h,wspo tyscnegre mnee vde n,agnikarb
elih w,denna ms ielcihe vdae leh tyln ohcih wn isyovno cro fs itnemeriuqe ryratili mehT
osl atu byawdae hniatnia myln oto nselcihe vgniwollof re eo ts rssw ea oedolhatlteolf
htcarae ssecRito brrooeRft ne.eheCTsr usosce l t ko hnc g rgiataeirivmterehw
ydbezinag rnooititepm oec h nttinapicitr arpalug enare esb aihtannicn i fCyotisrevinU
re v)eSVU As(mets ydSnuo rdGennam nr Uonfoitaicos seAht f oytisrevin U.rae yy
stne vee h ftyon a nmdiezi rnp odw ndaetapicitr asp a IhtIacra edBell atcob osr’itannicniC
e hwtoll odFell atcne v w eneaonititepm o9c9 9e 1 hn.tInoititepm osci hndtiezinagro
ssucs iedvo bea h ftnooitalum inadsiecudort nsi arwedaeL e h.Telpma xdelr olwa edre
evitcej beo h.Tsegd uej h fteo n yonbevi rtdr a rcroew onmw awaloll o ofst amw icaisab
ecnats iddradna tnasiht iewcnats ied hgtniniatni aemli hewlcih edva eel hwtoll o ofstaw
i nsnm eaotIsaIucr ayelBtnes e.r)Psre t3e(m - tcerid )sne Ley EhsiF (metsy snoito mlanoi
s.iehcTna teesr hiurt dsaogantneoims t tadee e t n lhegfoeaegtnrorhhniattamtr eotted
hc r sakte rpshomeswe ritol ttpeamhot ckcs aagtni s guen hirttaantoos ro ttcet eddna
etacol eht tcejbo os taht tobor dluoc ebtius ni aem h.Ttcej beo hwtoll o ofdteree tyslba
d nnaoitatnemelp m fieos a,ets owc orlie hetdulc nmiets ygsnign arran o fssonoitcartta
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gnisseco rrpewo l fsmor oef h ntsiegatnavdas ihadt iswem o tchiguoh t. lyAtef atsnerehni
h tnorbet tma apee db di,nwsadeeps ,sror reegr aylllaitnet ooepttubirtn otchg ihmci hfwo
.noitacilp p fadon iski hrt oeflbati uesr o tmsiek asmegatnav ddaezila eerht

1.2 :evitcejbO

r oefvitanret lealbail eerlbati udasn i ofst akwr ohwcraes esri h fteosopr uyprami rephT
ul otsnetsi xeeht ohtguo neelbisa eedfblu ohwci htwpecn orceda ee lhwtoll oe fhr tonfoit
ohtguo nyes a eedblu ohwci hdw nyatilibap adc nsaecruos etrnese rep hhtt iewveihca
d ntacet eomdtets yrsan ocsiman ysdi hf e to.se suhdTe eenrut uotftpa dd antanemelpmi
tdsiboova hcraes esri h.T ItIacra erB omfets yssi h ftyotilibide rec hdtehsilbat sse ashelca
krow stpmetta ot ekat ni ot taht erutaef fo tce jnbooitceted ot pleh ni eht ssecorp fo
.reda eel hgtniwollof

:tnemetat Smelbor P3.1
softtwosstis nroecd aeweholtl leohFT Iesah Pylema nsega – Ie Isa hd Pnyaawda eH -
gniwoll oeFe rdF neacnanetni ayMawdaeH
e sIahP - Headway
nSsaek atma hhttgn erlet e4m. 5fat1osisn olcl iewsru oec h ftfol athsr iefhT - ht iewvruc
hhtt itwra tlsl iewgnella heC h.Tsret e f3msouid anra eam elcihe vgniwollo feh tf otnor fe
e h.Tyranoita tsselcih ehvt odb n,aelcih edva eel h ftroa eer h ntnog ies hdtnih esbret e3m
e hfdt one e hodttee ptsa hdtl od hnrau or h eomy3ptklwo lestarelec clal iewlcih edvael
erlcih edva eel h ftroa eer hnte h.Wnur d an,apo tlsl it,wisret e4m. 5s1ehcae
froetn eec hmtor fs(elcih eov wet hnteewt eebcnats ied h fteod a emlbl itwnemerusaem
8
.)elcih egvniwoll oef h ftroetn etcno ref h otetlcih edva eel h ntnog iesht lli wsegduJ
o we thnteewt edbna td snkal aywlirassecen o.Ntnemerusa esmi hetk a omstelcih ev
po tssi hgtnir uddettimr e eplbl iewlcih eev h otsttnemtsuj dlaaunam . elcihe vdae lehT
.egnella he C hfetosa hdpnoc ee shott ndieeco rd pnnaia gptaura tnse hltliw

IeIsahP - ecn agd n nny eiaaetwwenodrilaFaleMoHF

At ,elcih edva eel h otytl neolbis ikvca r nateounitn olcl iewsru oec heItsa h fPdo nee ht
Sf otsisno clli whcih wtub - on3tw osdre t me5om relfbl iewrutavr uficoid a.Rsevruc
e 6m f9eocnats irad orfh/ mt3knatsn o tacna ulrl iewlcih edva eel h.Tsretem ters at the
ftonemerusa edmnoc edas n,aen ihlsin ief h ttda nrea esr thit ipwo tlsl i twhici h fwdone
e h nteolcih edva eel hntoisac c no.Oed a emlbl iswelcih eov wet hnteewt eebcnatsid
lerr anboitcurts n fosaocret e5 m.n1iht isws alpl iewsru odcekramnu .

noitcet etDcej bdOes arBanoS
n ognidice dn is irellortno ctnegilletn in agningise df oegnellah ccificep sehT
ow to,hstnemeriuq ee rhytfsit aodstede esnnioitamrof ntia hosswtatnemeriuqer
ymrotcafsit a nasnioitamrof nsii het s ouwt odh n taeirusaem tedeh let tumraoehwntna
nagis e odst aewvitcej bnogis eldlare veo h.Tenihc aem h ftnooitacifice pescnamrofrep
sselkca rhtguor httob oe rhgtnitagiv ar noyfgolodoht enmoitul od snmahtirog lealbatius
dtnnatoaitav enliear r desntna rpurt ahh ts,inwiarret ottob oe rhetlba neem ietm aesh
elbatiu saf ongise dseilpm isih T.ecnatsi ddewoll aylbanosae ranihti wredae leh twollof
ottob oe r hfctoig ollortn olcev erlep phut i,wdetarget nyilis aedeblu ohcci h,wmetsysbus
metsy slargetn in as anoitcnu ft ielbane .stnemeriuq eercnamrofr eep hlt lganiteem
9
ndoes a sbsiegatnav dtanemelp m oiyts ade ntas otcnereh nsi thit igwnign arranoS
.s rdo esoednn thnreo tuusteotbsear r etsvluauowu ne rgimto n tisffiantrorouucbsaem
sendhonste phetdgne ro thdsceetcel feehrT n ofeiohttatn eedirnruao t,xee pt,aehzsi
gnitt e fgsoecna hec hetsaerc ndi near otmcelf esrecafr uesgr a.Lecafr ugsnitcelfer
desu c ronaofoisreps iedsu ay caemcafr ugsnitcel f ,eaerpa hs s tngionidnep e.Ddetceted
.ma edbetcelfer
si hfntooitazinag r5O.1 :sise hT
,dnuorgk c eashbntial p dxkn erahocwrae ss e inrohottitcud or r e 1tstnnipaiahC
noitagiv aen hstnialp xr2eetpa h.Csise hsti hdtnih eybgolonhc eet hdt nnaoitavitom
.enHoitagi vena nonko rdsouwoiv e erynhpeotv reursutar es teaidliv o drynpraoeht re
r4etpa h.Cdessucs idd ndaenialp xoes lea rmaets yes h ftsotnenopmocb utsnereffid
cis amabo rsfessergo rrpetpa hsci h.Tmsinahc edm nnagis eldortn ogcniree tes hstnialpxe
nfhootitatnemel p dmnnigai sleadu t elcohoattrt ngoncire e entohosttitcudortni metsy ssi
sessuc s dihndcaaor pnpoaitce ttecde jdbeo sraab n eoshsntia lr pe5xtep a .htICaIcr aneiB
tnese re p hodtterapm once hmwets yssi hfstoegatnavdas id dnsaegatnav de ahytllaitrap
inm odesa bsne ley ehsif -ssucs ir6detpa h.Cmets ynsoit olmanoitcerid eh tliate dn ise
e hstnialp xt.eIhcaorp pganikca rttcej bdoes arbecudsna rctinosart le uhdtnih embhtirogla
CV GeI h ftwoeivre v nosaev ir7getpa h.Chcaorp psai hdtnih eybgolodoht edm neacneics
emmoc ed rnsanoisulcn oecrut usfe v ri8egtpa hd Cnnaoititepmoc eru trsuonffoitadn
stanese rep rcaig oel h ftnooitatnemelp mei hdtnih esbmargo rep h,tyllan i.Fhcraeser
.xidnep pe a hneti d IoCScNA
10