Autonomous underwater navigation and control
Autonomous underwater navigation and control
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DOI：
10.1017/s0263574701003423
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发表时间：
2001-08
期刊：
影响因子：
2.7
通讯作者：
Stefan B. Williams;P. Newman;J. Rosenblatt;G. Dissanayake;H. Durrant-Whyte
中科院分区：
文献类型：
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作者：
Stefan B. Williams;P. Newman;J. Rosenblatt;G. Dissanayake;H. Durrant-Whyte
本文介绍了自主导航和控制的水下机器人使用的车辆控制架构的基础上的分布式架构移动的导航和地形辅助导航技术的基础上同时定位和地图建设。提供了用于车辆控制的低速平台模型的开发以及使用声纳的映射和位置估计的理论和实践细节。这些技术在小型潜水器“Oberon”上的实施细节。
This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architeclure 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.