Title | Terrain-based navigation for underwater vehicles using an ultrasonic scanning system |
---|
Authors | Lygouras, J.N., Kontogiannis, V., Pachidis, T. and Liatsis, P. |
---|
Abstract | 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 | Advanced Robotics |
---|
Journal citation | 22 (11), pp. 1181-1205 |
---|
ISSN | 0169-1864 |
---|
Year | 2008 |
---|
Publisher | Brill |
---|
Digital Object Identifier (DOI) | https://doi.org/10.1163/156855308X338429 |
---|
Publication dates |
---|
Published | 2008 |
---|