Low-cost localization solution for underwater robot using single-beam SONAR and IMU

• Main Author: Loke, Wesley Ting Kai
• Other Authors: Cai Yiyu
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering; Autonomous underwater vehicle
• Online Access: https://hdl.handle.net/10356/177887
• Institution: Nanyang Technological University

In this FYP, a closed loop control system was set up in order to control the movements of an Autonomous Underwater Vehicle (AUV). This takes inputs in the form of signals from inertial measurement units (IMU) as well as sonars, and passes them through a control loop system to determine errors and ch...