Terrain-based navigation for underwater vehicles using an ultrasonic scanning system

Lygouras, John N., Kodogiannis, Vassilis, Pachidis, Theodore and Liatsis, Pangiotis (2008) Terrain-based navigation for underwater vehicles using an ultrasonic scanning system. Advanced Robotics, 22 (11). pp. 1181-1205. ISSN 0169-1864

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Official URL: http://dx.doi.org/10.1163/156855308X338429


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 our research efforts in the above area, using data from water tank trials and a remotely operated vehicle operating in a shallow water environment.

Item Type: Article
Subjects: University of Westminster > Science and Technology > Electronics and Computer Science, School of (No longer in use)
Depositing User: Miss Nina Watts
Date Deposited: 26 Oct 2010 14:48
Last Modified: 26 Oct 2010 14:48
URI: http://westminsterresearch.wmin.ac.uk/id/eprint/8741

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