Probabilistic Sonar Scan Matching for an AUV

被引:12
|
作者
Hernandez, Emili [1 ]
Ridao, Pere [1 ]
Ribas, David [1 ]
Mallios, Angelos [1 ]
机构
[1] Univ Girona, Dept Comp Engn, Girona 17071, Spain
来源
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词
D O I
10.1109/IROS.2009.5354656
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. An Extended Kalman Filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600m path within an abandoned marina underwater environment with satisfactory results.
引用
收藏
页码:255 / 260
页数:6
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