In the process of target capture, the precise and real-time navigation and position of underwater robot is the basic condition for the underwater robot to carry out the target capture. Doppler velocity log (DVL) can obtain the robot’ velocity relative to the seafloor, after using the extend kalman filter (EKF), there is still a certain cumulative error, but has a higher frequency. Binocular ranging can accurately measure the distance between the robot and the target when it is close to the underwater target. However, due to its large amount of calculation, there is a certain delay, low frequency, and due to changes in the underwater environment, there is no continuous detection of the target in the process of grasping. By using the normal distributions transform (NDT) algorithm, this article uses DVL data to compensate for the delay of the binocular data, and then uses the EKF-SLAM algorithm for data fusion to meet the positioning requirements at the time of capture.
Real-Time Location of Underwater Robot Grasping Based on Time Delay Compensation
Lect. Notes Electrical Eng.
2021-10-30
12 pages
Article/Chapter (Book)
Electronic Resource
English
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