Terrain-based navigation for underwater vehicles using an ultrasonic scanning system

John Lygouras, Vassilis Kodogiannis, Theodoros Pachidis, Panagiotis Liatsis

Research output: Contribution to journalArticlepeer-review

4 Scopus citations

Abstract

In this paper an approach to the field of outdoor robotic navigation with a focus on underwater simultaneous localization and mapping (SLAM) is proposed that utilizes ultrasonic scanning images. Experimental results from the implementation of a SLAM algorithm with real data are presented. The projected landmark detection process constructs a map of the environment and generates navigation estimates based on an adaptive delayed nearest-neighbor algorithm. The feature extraction and validation processes are resolved at the sensor level using a simple local maximum-level detection algorithm on the range data. This paper presents experimental results from our research efforts in the above area, using data from water tank trials and a remotely operated vehicle operating in a shallow water environment.

Original languageBritish English
Pages (from-to)1181-1205
Number of pages25
JournalAdvanced Robotics
Volume22
Issue number11
DOIs
StatePublished - 1 Aug 2008

Keywords

  • Concurrent mapping and localization
  • Extended Kalman filter
  • Scanning sonar
  • Terrain-based navigation
  • Underwater vehicle navigation

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