Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing
This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matri...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2011-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/11/11/10958/ |
| _version_ | 1798041909684338688 |
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| author | Tianhong Yan Yan Liang Shujing Zhang Chao Li Bo He Hongjin Zhang |
| author_facet | Tianhong Yan Yan Liang Shujing Zhang Chao Li Bo He Hongjin Zhang |
| author_sort | Tianhong Yan |
| collection | DOAJ |
| description | This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM. |
| first_indexed | 2024-04-11T22:28:07Z |
| format | Article |
| id | doaj.art-1ce84f6ab39740d1b96d9e8d056fadf4 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T22:28:07Z |
| publishDate | 2011-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-1ce84f6ab39740d1b96d9e8d056fadf42022-12-22T03:59:34ZengMDPI AGSensors1424-82202011-11-011111109581098010.3390/s111110958Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active SensingTianhong YanYan LiangShujing ZhangChao LiBo HeHongjin ZhangThis paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.http://www.mdpi.com/1424-8220/11/11/10958/: autonomous underwater vehicle (AUV)extended information filterlocalizationnavigationsonar |
| spellingShingle | Tianhong Yan Yan Liang Shujing Zhang Chao Li Bo He Hongjin Zhang Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing Sensors : autonomous underwater vehicle (AUV) extended information filter localization navigation sonar |
| title | Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing |
| title_full | Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing |
| title_fullStr | Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing |
| title_full_unstemmed | Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing |
| title_short | Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing |
| title_sort | autonomous navigation for autonomous underwater vehicles based on information filters and active sensing |
| topic | : autonomous underwater vehicle (AUV) extended information filter localization navigation sonar |
| url | http://www.mdpi.com/1424-8220/11/11/10958/ |
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