Experiments in navigation and mapping with a hovering AUV

被引：0

作者：

Kantor, George ^{[1
]}

Fairfield, Nathaniel ^{[1
]}

Jonak, Dominic ^{[1
]}

Wettergreen, David ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

FIELD AND SERVICE ROBOTICS: RESULTS OF THE 6TH INTERNATIONAL CONFERENCE | 2008年 / 42卷

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data collected during autonomous excursions in a limestone quarry are used to generate a map of the quarry geometry.

引用

页码：115 / 124

页数：10

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