A 3D mapping, obstacle avoidance and acoustic communication payload for the AUV SPARUS II
2016
This paper presents the new payload for Turbot, the SPARUS II AUV
unit, manufactured by the University of Girona and recently acquired by
the Systems, Robotics and Vision Group of the University of the Balearic
Islands. The new payload has been entirely designed and integrated to
host all elements necessary to perform visual 2D/3D mapping, optical
(visuallaser) object reconstruction, acoustic and visual obstacle avoidance,
and acoustic localization and communication. Several experiments in shallow
waters of Mallorca show the validity of the sensor integration and operation for all the
required tasks.
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