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

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To access the full text documents, please follow this link: http://hdl.handle.net/10256/8239

dc.contributor.author	Hernàndez Bes, Emili
dc.contributor.author	Ridao Rodríguez, Pere
dc.contributor.author	Ribas Romagós, David
dc.contributor.author	Batlle i Grabulosa, Joan
dc.date	2009
dc.date.accessioned	2013-09-17T22:38:57Z
dc.date.available	2013-09-17T22:38:57Z
dc.date.issued	2013-09-17T22:38:57Z
dc.identifier.citation	1888-0258
dc.identifier.uri	http://hdl.handle.net/10256/8239
dc.format	application/pdf
dc.language.iso	eng
dc.publisher	Red de Agentes Físicos
dc.relation	Reproducció digital del document publicat a: http://www.jopha.net/index.php/jopha/article/view/40
dc.relation	Journal of physical agents, 2009, vol. 3, núm. 1, p. 3-11
dc.relation	Articles publicats (D-ATC)
dc.rights	Attribution-ShareAlike 3.0 Spain
dc.rights	http://creativecommons.org/licenses/by-sa/3.0/es/
dc.subject	Vehicles submergibles
dc.subject	Autonomous robots
dc.subject	Algorismes computacionals
dc.subject	Computer algorithms
dc.title	MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion
dc.description.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

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