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

SonarRoboticsArtificial intelligenceTerrainComputer visionPosition (finance)Computer scienceUnderwaterHeading (navigation)Navigation systemEngineeringRobotGeographyAerospace engineeringCartography

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Publication Info

Year
2001
Type
article
Volume
15
Issue
5
Pages
533-549
Citations
110
Access
Closed

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Stefan B. Williams, Gamini Dissanayake, Hugh Durrant‐Whyte (2001). Towards terrain-aided navigation for underwater robotics. Advanced Robotics , 15 (5) , 533-549. https://doi.org/10.1163/156855301317033559

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DOI
10.1163/156855301317033559