AUV SLAM and experiments using a mechanical scanning forward-looking sonar
He, Bo and Liang, Yan and Feng, Xiao and Nian, Rui and Yan, Tianhong and Li, Minghui and Zhang, Shujing (2012) AUV SLAM and experiments using a mechanical scanning forward-looking sonar. Sensors, 12 (7). pp. 9386-9410. ISSN 1424-8220
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Abstract
Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.
Creators(s): | He, Bo, Liang, Yan, Feng, Xiao, Nian, Rui, Yan, Tianhong, Li, Minghui and Zhang, Shujing; | Item type: | Article |
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ID code: | 41621 |
Keywords: | autonomous underwater vehicles , navigation technology, sonar, robots, Electrical engineering. Electronics Nuclear engineering, Biochemistry, Atomic and Molecular Physics, and Optics, Analytical Chemistry, Electrical and Electronic Engineering |
Subjects: | Technology > Electrical engineering. Electronics Nuclear engineering |
Department: | Faculty of Engineering > Electronic and Electrical Engineering Technology and Innovation Centre > Sensors and Asset Management |
Depositing user: | Pure Administrator |
Date deposited: | 22 Oct 2012 11:00 |
Last modified: | 20 Jan 2021 20:23 |
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URI: | https://strathprints.strath.ac.uk/id/eprint/41621 |
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