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Título:
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Probabilistic sonar scan matching for an AUV
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Autor/a:
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Hernández Bes, Emili; Ridao Rodríguez, Pere; Ribas Romagós, David; Mallios, Angelos
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Abstract:
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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 |
Fecha de creación:
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22-05-2010 |
Materia(s):
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-Detectors -Sonar (Navegació) -Robots submarins -Vehicles submergibles -Submersibles -Underwater robots |
Derechos:
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Tots els drets reservats |
Tipo de documento:
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Artículo |
Editor:
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IEEE
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