Towards terrain-aided navigation for underwater robotics

被引：73

作者：

Williams, S ^{[1
]}

Dissanayake, G ^{[1
]}

Durrant-Whyte, H ^{[1
]}

机构：

[1] Univ Sydney, Australian Ctr Field Robot, Dept Mech & Mechatron Engn, Sydney, NSW 2006, Australia

来源：

ADVANCED ROBOTICS | 2001年 / 15卷 / 05期

关键词：

terrain-aided navigation; localization; mapping; uncertainty; autonomous underwater vehicle;

D O I：

10.1163/156855301317033559

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes an approach to autonomous navigation for an undersea vehicle that uses information from a scanning sonar to generate navigation estimates based on a simultaneous localization and mapping algorithm. Development of low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. An implementation of these techniques on a small submersible vehicle 'Oberon' are presented.

引用

页码：533 / 549

页数：17

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