Underwater Simultaneous Localization and Mapping Based on Forward-looking Sonar

被引：2
|
作者：
Zhang, Tiedong [1 ]
Zeng, Wenjing [1 ]
Wan, Lei [1 ]
机构：
[1] Harbin Engn Univ, Natl Key Lab Technol Autonomous Underwater Vehicl, Harbin 150001, Heilongjiang, Peoples R China
来源：
JOURNAL OF MARINE SCIENCE AND APPLICATION | 2011年 / 10卷 / 03期
基金：
中国国家自然科学基金;
关键词：
simultaneous localization and mapping (SLAM); looking forward sonar; extended Kalman filter (EKF);
D O I：
10.1007/s11804-011-1082-1
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
A method of underwater simultaneous localization and mapping (SLAM) based on forward-looking sonar was proposed in this paper. Positions of objects were obtained by the forward-looking sonar, and an improved association method based on an ant colony algorithm was introduced to estimate the positions. In order to improve the precision of the positions, the extended Kalman filter (EKF) was adopted. The presented algorithm was tested in a tank, and the maximum estimation error of SLAM gained was 0.25 m. The tests verify that this method can maintain better association efficiency and reduce navigation error.
引用
收藏
页码：371 / 376
页数：6
相关论文
共 50 条
  • [1] Underwater Simultaneous Localization and Mapping Based on Forward-looking Sonar
    Tiedong Zhang
    [J]. Journal of Marine Science and Application, 2011, 10 (03) : 371 - 376
  • [2] Simultaneous Localization and Mapping of Autonomous Underwater Vehicle Using Looking Forward Sonar
    曾文静
    万磊
    张铁栋
    黄蜀玲
    [J]. Journal of Shanghai Jiaotong University(Science), 2012, 17 (01) : 91 - 97
  • [3] Simultaneous localization and mapping of autonomous underwater vehicle using looking forward sonar
    Zeng W.-J.
    Wan L.
    Zhang T.-D.
    Huang S.-L.
    [J]. Journal of Shanghai Jiaotong University (Science), 2012, 17 (1) : 91 - 97
  • [4] Underwater Localization and Mapping Based on Multi-Beam Forward Looking Sonar
    Cheng, Chensheng
    Wang, Can
    Yang, Dianyu
    Liu, Weidong
    Zhang, Feihu
    [J]. FRONTIERS IN NEUROROBOTICS, 2022, 15
  • [5] LOCALIZATION AND MAPPING FOR DEEP-SEA MINING VEHICLES WITH FORWARD-LOOKING SONAR
    Xu, Wenhao
    Yang, Jianmin
    Wei, Handi
    Lu, Haining
    Tian, Xinliang
    Liu, Lei
    [J]. PROCEEDINGS OF ASME 2023 42ND INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE & ARCTIC ENGINEERING, OMAE2023, VOL 4, 2023,
  • [6] Location and Mapping for AUV Using a Forward-Looking Sonar
    Zhang, Tiedong
    Pang, Yongjie
    Jiang, Dapeng
    Zeng, Wenjing
    [J]. 2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 9083 - 9088
  • [7] Rotated object detection with forward-looking sonar in underwater applications
    Neves, Gustavo
    Ruiz, Marco
    Fontinele, Jefferson
    Oliveira, Luciano
    [J]. EXPERT SYSTEMS WITH APPLICATIONS, 2020, 140
  • [8] A Forward-Looking Sonar-Based System for Underwater Mosaicing and Acoustic Odometry
    Franchi, Matteo
    Ridofi, Alessandro
    Zacchini, Leonardo
    [J]. 2018 IEEE/OES AUTONOMOUS UNDERWATER VEHICLE WORKSHOP (AUV), 2018,
  • [9] Underwater Terrain Reconstruction from Forward-Looking Sonar Imagery
    Wang, Jinkun
    Shan, Tixiao
    Englot, Brendan
    [J]. 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 3471 - 3477
  • [10] A Dataset with Multibeam Forward-Looking Sonar for Underwater Object Detection
    Xie, Kaibing
    Yang, Jian
    Qiu, Kang
    [J]. SCIENTIFIC DATA, 2022, 9 (01)
12345