This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architecture for Mobile Navigation and a terrain-aided navigation technique based on simultaneous localisation and map building. Development of the low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. Details of an implementation of these techniques on a small submersible vehicle "Oberon" are presented.


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    Titel :

    Autonomous underwater navigation and control


    Beteiligte:
    Williams, S.B. (Autor:in) / Newman, P. (Autor:in) / Rosenblatt, J. (Autor:in) / Dissanayake, G. (Autor:in) / Durrant-Whyte, H. (Autor:in)

    Erschienen in:

    Robotica ; 19 , 5 ; 481-496


    Erscheinungsdatum :

    2001


    Format / Umfang :

    16 Seiten, 16 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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