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Títol:	MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar
Autor/a:	Hernàndez Bes, Emili; Ridao Rodríguez, Pere; Ribas Romagós, David; Batlle i Grabulosa, Joan
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
Data de publicació:	17-09-2013
Matèries:	-Vehicles submergibles -Autonomous robots -Algorismes computacionals -Computer algorithms
Drets:	Attribution-ShareAlike 3.0 Spain http://creativecommons.org/licenses/by-sa/3.0/es/
Tipus de document:	Article Article - Versió publicada
Publicat per:	Red de Agentes Físicos
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