Development of speech systems for autonomous surface vehicle

• Main Author: Koh, Constance Jia Wei
• Other Authors: Xie Ming
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/172830
• Institution: Nanyang Technological University

This project tackles the challenge of pinpointing the location of an underwater acoustic pinger using an Autonomous Underwater Vehicle (AUV). It addresses task two of the RobotX competition, an international university-level competition created to pique students' interest in autonomous robotic systems functioning in the marine domain. The objective is to put into practice an algorithm that uses distinguishing characteristics of an acoustic ping, including the rising edge and the phase of the sine wave part, to locate the source and help guide the AUV through the correct gate. The proposed algorithm: MUSIC algorithm. It is implemented in MATLAB and validated using the data from the hydrophones.