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.
Terrain-based navigation for underwater vehicles using an ultrasonic scanning system
Advanced Robotics ; 22 , 11 ; 1181-1205
2008
25 Seiten, 7 Bilder, 1 Tabelle, 22 Quellen
Article (Journal)
English
Terrain navigation for underwater vehicles using the correlator method
Tema Archive | 2004
|Particle filter for underwater terrain navigation
Tema Archive | 2003
|