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MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar

This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic 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), and the robot displacement estimated through dead-reckoning with the help of a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. Its major contribution consists in: 1) using an EKF to estimate the local path traveled by the robot while grabbing the scan as well as its uncertainty and 2) proposing a method to group into a unique scan, with a convenient uncertainty model, all the data grabbed along the path described by the robot. The algorithm has been tested on an AUV guided along a 600m path within a marina environment with satisfactory results

Journal of physical agents, 2009, vol. 3, núm. 1, p. 3-11

Red de Agentes Físicos

Author: Hernàndez Bes, Emili
Ridao Rodríguez, Pere
Ribas Romagós, David
Batlle i Grabulosa, Joan
Date: 2009
Abstract: This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic 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), and the robot displacement estimated through dead-reckoning with the help of a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. Its major contribution consists in: 1) using an EKF to estimate the local path traveled by the robot while grabbing the scan as well as its uncertainty and 2) proposing a method to group into a unique scan, with a convenient uncertainty model, all the data grabbed along the path described by the robot. The algorithm has been tested on an AUV guided along a 600m path within a marina environment with satisfactory results
Format: application/pdf
ISSN: 1888-0258
Document access: http://hdl.handle.net/10256/8239
Language: eng
Publisher: Red de Agentes Físicos
Collection: Reproducció digital del document publicat a: http://www.jopha.net/index.php/jopha/article/view/40
Articles publicats (D-ATC)
Is part of: Journal of physical agents, 2009, vol. 3, núm. 1, p. 3-11
Rights: Attribution-ShareAlike 3.0 Spain
Rights URI: http://creativecommons.org/licenses/by-sa/3.0/es/
Subject: Vehicles submergibles
Autonomous robots
Algorismes computacionals
Computer algorithms
Title: MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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