Autonomous underwater navigation and control

被引：28
|
作者：
Williams, SB [1 ]
Newman, P [1 ]
Rosenblatt, J [1 ]
Dissanayake, G [1 ]
Durrant-Whyte, H [1 ]
机构：
[1] Univ Sydney, Dept Mech & Mechatron Engn, Australian Ctr Field Robot, Sydney, NSW 2006, Australia
来源：
ROBOTICA | 2001年 / 19卷
关键词：
underwater navigation; autonomous control; distributed architecture; sonar use;
D O I：
10.1017/S0263574701003423
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architecture for Mobile Navigation and a terrain-aided navigation technique based on simultaneous localisation and map building. Development of the low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. Details of an implementation of these techniques on a small submersible vehicle "Oberon" are presented.
引用
收藏
页码：481 / 496
页数：16
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