Abstract
| Language | English |
|---|---|
| Pages | 9386-9410 |
| Number of pages | 25 |
| Journal | Sensors |
| Volume | 12 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 9 Jul 2012 |
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Keywords
- autonomous underwater vehicles
- navigation technology
- sonar
- robots
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AUV SLAM and experiments using a mechanical scanning forward-looking sonar. / He, Bo; Liang, Yan; Feng, Xiao; Nian, Rui; Yan, Tianhong; Li, Minghui; Zhang, Shujing.
In: Sensors, Vol. 12, No. 7, 09.07.2012, p. 9386-9410.Research output: Contribution to journal › Article
TY - JOUR
T1 - AUV SLAM and experiments using a mechanical scanning forward-looking sonar
AU - He, Bo
AU - Liang, Yan
AU - Feng, Xiao
AU - Nian, Rui
AU - Yan, Tianhong
AU - Li, Minghui
AU - Zhang, Shujing
PY - 2012/7/9
Y1 - 2012/7/9
N2 - Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.
AB - Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.
KW - autonomous underwater vehicles
KW - navigation technology
KW - sonar
KW - robots
UR - http://www.scopus.com/inward/record.url?scp=84864354718&partnerID=8YFLogxK
UR - http://www.mdpi.com/1424-8220/12/7/9386
U2 - 10.3390/s120709386
DO - 10.3390/s120709386
M3 - Article
VL - 12
SP - 9386
EP - 9410
JO - Sensors
T2 - Sensors
JF - Sensors
SN - 1424-8220
IS - 7
ER -