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Talk-13: Side-Scan Sonar Payload Integration with a Low-Cost Custom AUV

Joshua M. Lewis

Robotics Discovery Lab, University of Delaware

A Cerulean Omniscan 450 SS side-scan sonar was built onto a payload module and integrated with a small, low-cost, custom AUV (MIT's SeaBeaver III) to enable high-resolution imaging with low-cost hardware and a modular payload. Major tasks included mechanical mounting, development of 3D-printed parts, wet-side vs. dry-side cabling, electrical distribution, sonar data logging, and sonar control on a Raspberry Pi 4 and Blue Robotics Navigator board. Bench tests, pool trials, and sea tests were conducted to evaluate power sufficiency, signal logging capability, mission sequence logic, hardware integrity, and software stability. We present an integrated system that is capable of collecting side scan sonar data. Continued efforts include software logic and logging optimization between the AUV and SEA SCANNER and integration of the payload module onto an off-the-shelf EchoBoat ASV. These platforms establish a baseline for future work, to include field mosaics, onboard machine learning algorithm development, and an improved localization framework in the absence of GPS input.

Categories:

  • Side-Scan Sonar
  • Sea Beaver AUV
  • AUVs