Autonomy through SLAM for an Underwater Robot
2011 (English)In: Robotics Research The 14th International Symposium ISRR, Springer Berlin/Heidelberg, 2011, Vol. 70, 55-70 p.Conference paper (Refereed)
An autonomous underwater vehicle (AUV) is achieved that integrates state of the art simultaneous localization and mapping (SLAM) into the decision processes. This autonomy is used to carry out undersea target reacquisition missions that would otherwise be impossible with a low-cost platform. The AUV requires only simple sensors and operates without navigation equipment such as Doppler Velocity Log, inertial navigation or acoustic beacons. Demonstrations of the capability show that the vehicle can carry out the task in an ocean environment. The system includes a forward looking sonar and a set of simple vehicle sensors. The functionality includes feature tracking using a graphical square root smoothing SLAM algorithm, global localization using multiple EKF estimators, and knowledge adaptive mission execution. The global localization incorporates a unique robust matching criteria which utilizes both positive and negative information. Separate match hypotheses are maintained by each EKF estimator allowing all matching decisions to be reversible.
Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2011. Vol. 70, 55-70 p.
, Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 70
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-38267DOI: 10.1007/978-3-642-19457-3_4ScopusID: 2-s2.0-79958001884ISBN: 978-3-642-19456-6OAI: oai:DiVA.org:kth-38267DiVA: diva2:436459
14th International Symposium of Robotic Research, ISRR 2009; Lucerne; 31 August 2009 through 3 September 2009
QC 201108302011-08-232011-08-232016-02-17Bibliographically approved