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
收藏
页码：115 / 124
页数：10
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