Abstract
This paper presents the definition of a remotely operated vehicle (ROV) deploying a cylindrical array sonar for underwater robotics operations, such as mine-hunting. The various aspects of robotics arrangements for the ROV are discussed in association with the integrated functionality of the cylindrical array sonar including an adaptive beamformer. The proposed adaptive processing concept has been implemented in an integrated active-passive real-time sonar deploying a cylindrical array. Real data results from the adaptive and conventional beamforming outputs of the cylindrical array sonar system demonstrate the superior performance of the adaptive beamformer in suppressing the reverberation and cluttering effects in active sonar applications. Moreover, for passive sonar applications, the adaptive processing provides substantially improved angular resolution performance as compared with that of the conventional beamformer.
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