Towards terrain-aided navigation for underwater robotics
نویسندگان
چکیده
This paper describes an approach to autonomous navigation for an undersea vehicle that uses information from a scanning sonar to generate navigation estimates based on a simultaneous localization and mapping algorithm. Development of low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. An implementation of these techniques on a small submersible vehicle ‘Oberon’ are presented.
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ورودعنوان ژورنال:
- Advanced Robotics
دوره 15 شماره
صفحات -
تاریخ انتشار 2001