Obstacle Detection System Design for an Autonomous Surface Vehicle using a Mechanical Scanning Sonar

In this article the obstacle detection system design for MACABOT an Autonomous Surface Vehicle (ASV) using mechanical scanning sonar is presented. The MACABOT ASV is a versatile marine multipurpose autonomous vehicle developed to fulfill complex requirements from different applications like in the offshore industry, harbour maintenance, fishery, and others. It was totally developed and assembled in the laboratories of INTELYMEC-CIFICEN-UNCPBA. The mechanical scanning sonar was mounted on the front of ASV to detect obstacles in the path navigation. The system design presented allows adjustment and control of the parameters of mechanical scanning sonar and the on-line processing of acoustic data obtained. Experimental tests verify the correct operation of system designed, as well as, to determine the optimal values of the basic parameters of mechanical scanning sonar.