Towards autonomous localization and mapping of AUVs: a survey

نویسندگان

  • Ling Chen
  • Sen Wang
  • Klaus McDonald-Maier
  • Huosheng Hu
چکیده

Purpose – The main purpose of this paper is to investigate two key elements of localization and mapping of Autonomous Underwater Vehicle (AUV), i.e. to overview various sensors and algorithms used for underwater localization and mapping, and to make suggestions for future research. Design/methodology/approach – The authors first review various sensors and algorithms used for AUVs in the terms of basic working principle, characters, their advantages and disadvantages. The statistical analysis is carried out by studying 35 AUV platforms according to the application circumstances of sensors and algorithms. Findings – As real-world applications have different requirements and specifications, it is necessary to select the most appropriate one by balancing various factors such as accuracy, cost, size, etc. Although highly accurate localization and mapping in an underwater environment is very difficult, more and more accurate and robust navigation solutions will be achieved with the development of both sensors and algorithms. Research limitations/implications – This paper provides an overview of the state of art underwater localisation and mapping algorithms and systems. No experiments are conducted for verification. Practical implications – The paper will give readers a clear guideline to find suitable underwater localisation and mapping algorithms and systems for their practical applications in hand. Social implications – There is a wide range of audiences who will benefit from reading this comprehensive survey of autonomous localisation and mapping of UAVs. Originality/value – The paper will provide useful information and suggestions to research students, engineers and scientists who work in the field of autonomous underwater vehicles.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Towards Localization and Mapping of Autonomous Underwater Vehicles: A Survey

Autonomous Underwater Vehicles (AUVs) have been used for a huge number of tasks ranging from commercial, military and research areas etc, while the fundamental function of a successful AUV is its localization and mapping ability. This report aims to review the relevant elements of localization and mapping for AUVs. First, a brief introduction of the concept and the historical development of AUV...

متن کامل

Concurrent Mapping and Localization for Multiple Autonomous Underwater Vehicles

This paper considers the problem of cooperative mapping and navigation (CMAN) by multiple autonomous underwater vehicles (AUVs). The goal is for several AUVs to concurrently build maps of an unknown environment, and to use these maps for navigation. This work builds on our previous research in development of concurrent mapping and localization (CML) techniques for a single vehicle. In this pape...

متن کامل

BathyBoat: Autonomous Surface Command & Control for Underwater Vehicle Networks

This paper reports the preparation of two modified Ocean-Server AUV systems and the construction of a new autonomous surface vessel (ASV) for cooperative simultaneous localization and mapping (SLAM) research at the University of Michigan (UMich). The Marine Hydrodynamics Laboratories (MHL) has designed and fabricated the new ASV BathyBoat to serve as a targeted remote sensing platform and a mob...

متن کامل

Toward Real-Time Visually Augmented Navigation for Autonomous Search and Inspection of Ship Hulls and Port Facilities

This paper reports on current research to automate the task of ship hull inspection and search using autonomous underwater vehicles (AUVs). We describe an automated feature-based navigation (FBN) and mapping framework that provides the AUV with precise in-situ hull-relative localization. Our vision-based perception approach eliminates the need for having to deploy additional navigation infrastr...

متن کامل

Direct Policy Search with Variable-Length Genetic Algorithm for Single Beacon Cooperative Path Planning

This paper focuses on Direct Policy Search (DPS) for cooperative path planning of a single beacon vehicle supporting Autonomous Underwater Vehicles (AUVs) performing surveying missions. Due to lack of availability of GPS signals underwater, the position errors of the AUVs grow with time even though they are equipped with proprioceptive sensors for dead reckoning. One way to minimize this error ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2013