Ítem
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Hernández Bes, Emili
Ridao Rodríguez, Pere Ribas Romagós, David Mallios, Angelos |
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| 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 | |
| http://hdl.handle.net/2072/59151 | |
| eng | |
| IEEE | |
| Tots els drets reservats | |
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Detectors
Sonar (Navegació) Robots submarins Vehicles submergibles Submersibles Underwater robots |
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| Probabilistic sonar scan matching for an AUV | |
| info:eu-repo/semantics/article | |
| Recercat |
