Towards terrain-aided navigation for underwater robotics
- 1 January 2001
- journal article
- Published by Taylor & Francis in Advanced Robotics
- Vol. 15 (5) , 533-549
- https://doi.org/10.1163/156855301317033559
Abstract
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.Keywords
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