|Title||Terrain-based navigation for underwater vehicles using an ultrasonic scanning system|
|Authors||Lygouras, J.N., Kodogiannis, V., Pachidis, T. and Liatsis, P.|
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.
|Journal citation||22 (11), pp. 1181-1205|
|Digital Object Identifier (DOI)||https://doi.org/10.1163/156855308X338429|