Development of the UFRJ Nautilus' AUV: A Multisensor Data Fusion case study

Abstract

The UFRJ Nautilus is a student-driven engineering project team at Federal University of Rio de Janeiro, focused on building and designing AUVs to compete in the AUSVI RoboSub Competition. There are several challenges on developing an AUV: location, computer vision, filters, collect and evaluate data from several sensors. The priority of the team was deliver a robot capable of localizing it self on a pool, with more reliability from all hardware and mechanical systems. We have developed a echo-localization algorithm based on the traditional beamforming that considers both time and frequency in order to have a faster and less power intensive procedure, Simulation showed that our algorithm achieved those objectives.