Towards terrain-aided navigation for underwater robotics

作者：Stefan B. Williams, Gamini Dissanayake, Hugh Durrant‐Whyte · 发表于：Advanced Robotics · 年份：2001 · DOI：10.1163/156855301317033559 · 被引用次数：111 · 研究领域：Underwater Vehicles and Communication Systems、Robotics and Sensor-Based Localization、Maritime Navigation and Safety

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.