In this paper an approach to the field of outdoor robotic navigation with a focus on underwater simultaneous localization and mapping (SLAM) is proposed that utilizes ultrasonic scanning images. Experimental results from the implementation of a SLAM algorithm with real data are presented. The projected landmark detection process constructs a map of the environment and generates navigation estimates based on an adaptive delayed nearest-neighbor algorithm. The feature extraction and validation processes are resolved at the sensor level using a simple local maximum-level detection algorithm on the range data. This paper presents experimental results from the research efforts in the above area, using data from water tank trials and a remotely operated vehicle operating in a shallow water environment.


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    Titel :

    Terrain-based navigation for underwater vehicles using an ultrasonic scanning system


    Beteiligte:

    Erschienen in:

    Advanced Robotics ; 22 , 11 ; 1181-1205


    Erscheinungsdatum :

    2008


    Format / Umfang :

    25 Seiten, 7 Bilder, 1 Tabelle, 22 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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