Title :
Underwater Target Localization
Author :
Marani, Giacomo ; Choi, Song K.
Author_Institution :
Dept. of Mech. Eng., Univ. of Hawaii, Honolulu, HI, USA
fDate :
3/1/2010 12:00:00 AM
Abstract :
This contribution focuses on the problem, intrinsic to autonomous underwater manipulation, of medium-range target localization for guiding the vehicle toward the target area. Based on the use of the dual-frequency identification sonar (DIDSON) sonar, the goal is to acquire the Earth-referenced Cartesian coordinates of a known target, with the necessary accuracy required for positioning the vehicle, so that the target falls within the manipulator workspace.
Keywords :
manipulator dynamics; marine engineering; mobile robots; position control; sonar target recognition; underwater vehicles; autonomous underwater manipulation; dual frequency identification sonar; earth referenced cartesian coordinates; manipulator workspace; medium range target localization; vehicle guidance; vehicle positioning; Control systems; Feedback; Humans; Manipulators; Mobile robots; Remotely operated vehicles; Robot kinematics; Robotics and automation; Sonar; Underwater vehicles;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2010.935793
