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
相关论文
共 50 条
  • [41] AUV Navigation Based on Inertial Navigation and Acoustic Positioning Systems
    Wang, Lingxiao
    Pang, Shuo
    OCEANS 2018 MTS/IEEE CHARLESTON, 2018,
  • [42] An Electromagnet-Operated Descent Weight Mechanism Designed for a Hovering AUV
    Woolsey, M.
    Jarnagin, R.
    Diercks, A. -R.
    2012 OCEANS, 2012,
  • [43] Research on integrated navigation method for AUV
    GUO Zhen and SUN Feng School of Automation
    Journal of Marine Science and Application, 2005, (02) : 34 - 38
  • [44] Design, Implementation, and Refinement of a Hardware-in-the-Loop Simulator for a Hovering AUV
    Woolsey, M.
    Jarnagin, R.
    2012 OCEANS, 2012,
  • [45] AUV experiments in obstacle avoidance
    Horner, D. P.
    Healey, A. J.
    Kragelund, S. P.
    OCEANS 2005, VOLS 1-3, 2005, : 1464 - 1470
  • [46] AUV Mapping of Underwater Targets
    Melo, Jose
    Dugelay, Samantha
    OCEANS 2019 MTS/IEEE SEATTLE, 2019,
  • [47] Development of Hovering-type AUV "HOBALIN" for Exploring Seafloor Hydrothermal Deposits
    Okamoto, Akihiro
    Tamura, Kenkichi
    Sasano, Masahiko
    Sawada, Kenichi
    Seta, Takahiro
    Inaba, Shogo
    Ura, Tamaki
    Nishida, Yuya
    Kojima, Junichi
    Itoh, Yuzuru
    OCEANS 2016 MTS/IEEE MONTEREY, 2016,
  • [48] AUV navigation and guidance in a moving acoustic network
    Matos, A
    Cruz, N
    Oceans 2005 - Europe, Vols 1 and 2, 2005, : 680 - 685
  • [49] Performance of an AUV navigation system at aRctic latitudes
    McEwen, R
    Thomas, H
    Weber, D
    Psota, F
    OCEANS 2003 MTS/IEEE: CELEBRATING THE PAST...TEAMING TOWARD THE FUTURE, 2003, : 642 - 653
  • [50] Research on the Influencing Factors of AUV Hovering Control in Null-Speed State
    Wang, Jianguo
    Jiang, Chunmeng
    Wan, Lei
    Zhou, Yimei
    Hu, Gangyi
    Cheng, Xide
    Wu, Gongxing
    JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2024, 12 (05)
12345