Hydroacoustic System in a Biomimetic Underwater Vehicle to Avoid Collision with Vessels with Low-Speed Propellers in a Controlled Environment

In this paper, a hydroacoustic system designed for a biomimetic underwater vehicle (BUV) is presented. The Biomimetic Underwater Vehicle No. 2 (BUV2) is a next-generation BUV built within the ambit of SABUVIS, a European Defense Agency project (category B). Our main efforts were devoted to designing the system so that it will avoid collisions with vessels with low-speed propellers, e.g., submarines. Verification measurements were taken in a lake using a propeller-driven pontoon with a spectrum similar to that produced by a submarine propulsion system. Here, we describe the hydroacoustic signal used, with careful consideration of the filter and method of estimation for the bearings of the moving obstacle. Two algorithms for passive obstacle detection were used, and the results are discussed herein.