Ítem
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Hernàndez Bes, Emili
Ridao Rodríguez, Pere Ribas Romagós, David Batlle i Grabulosa, Joan |
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| 2009 | |
| 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 | |
| application/pdf | |
| 1888-0258 | |
| http://hdl.handle.net/10256/8239 | |
| eng | |
| Red de Agentes Físicos | |
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Reproducció digital del document publicat a: http://www.jopha.net/index.php/jopha/article/view/40 Articles publicats (D-ATC) |
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| Journal of physical agents, 2009, vol. 3, núm. 1, p. 3-11 | |
| Attribution-ShareAlike 3.0 Spain | |
| http://creativecommons.org/licenses/by-sa/3.0/es/ | |
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Vehicles submergibles
Autonomous robots Algorismes computacionals Computer algorithms |
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| MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar | |
| info:eu-repo/semantics/article | |
| DUGiDocs |
