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Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 2009, p. 255-260

IEEE

Author: Hernàndez Bes, Emili
Ridao Rodríguez, Pere
Ribas Romagós, David
Mallios, Angelos
Date: 2009
Abstract: This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results
Format: application/pdf
Citation: Hernandez, E., Ridao, P., Ribas, D., i Mallios, A. (2009). Probabilistic sonar scan matching for an AUV. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 255-260. Recuperat 21 maig 2010,a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5354656
ISBN: 978-1-4244-3803-7
Document access: http://hdl.handle.net/10256/2387
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2009.5354656
Articles publicats (D-ATC)
Is part of: © IEEE/RSJ International Conference on Intelligent Robots and Systems : 2009 : IROS 2009, 2009, p. 255-260
Rights: Tots els drets reservats
Subject: Detectors
Sonar (Navegació)
Robots submarins
Vehicles submergibles
Submersibles
Underwater robots
Title: Probabilistic sonar scan matching for an AUV
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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