AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar
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 localizatio...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2012-07-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/12/7/9386 |
| _version_ | 1828113694666522624 |
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| author | Bo He Yan Liang Xiao Feng Rui Nian Tianhong Yan Minghui Li Shujing Zhang |
| author_facet | Bo He Yan Liang Xiao Feng Rui Nian Tianhong Yan Minghui Li Shujing Zhang |
| author_sort | Bo He |
| collection | DOAJ |
| description | 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 <em>C-Ranger</em> 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 <em>C-Ranger</em>. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified <em>negative evidence</em> 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 <em>C-Ranger</em> are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the <em>C-Ranger</em> AUV is much more effective and accurate compared with the traditional methods. |
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| format | Article |
| id | doaj.art-8804f1793e6543eca71871210a7a2302 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T12:13:00Z |
| publishDate | 2012-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8804f1793e6543eca71871210a7a23022022-12-22T04:24:29ZengMDPI AGSensors1424-82202012-07-011279386941010.3390/s120709386AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking SonarBo HeYan LiangXiao FengRui NianTianhong YanMinghui LiShujing ZhangNavigation 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 <em>C-Ranger</em> 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 <em>C-Ranger</em>. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified <em>negative evidence</em> 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 <em>C-Ranger</em> are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the <em>C-Ranger</em> AUV is much more effective and accurate compared with the traditional methods.http://www.mdpi.com/1424-8220/12/7/9386AUVmechanical scanning imaging sonarFastSLAM |
| spellingShingle | Bo He Yan Liang Xiao Feng Rui Nian Tianhong Yan Minghui Li Shujing Zhang AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar Sensors AUV mechanical scanning imaging sonar FastSLAM |
| title | AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar |
| title_full | AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar |
| title_fullStr | AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar |
| title_full_unstemmed | AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar |
| title_short | AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar |
| title_sort | auv slam and experiments using a mechanical scanning forward looking sonar |
| topic | AUV mechanical scanning imaging sonar FastSLAM |
| url | http://www.mdpi.com/1424-8220/12/7/9386 |
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