Title :
Probabilistic sensing for underwater robotics
Author :
Chantler, M.J. ; Reid, C.S. ; Wright, V.J.C.
Author_Institution :
Heriot-Watt Univ., Edinburgh, UK
Abstract :
The research reported in this paper is the product of one of a group of projects concerned with the automation of simple underwater manipulation tasks. An architecture for sensor fusion is presented which has been developed to integrate high frequency sonar and laser data. Also presented is a novel sensor error model for a high frequency pencil-beam sonar, with experimental results showing a typical 3-dimensional representation generated using the model
Keywords :
marine systems; mobile robots; probability; sensor fusion; sonar; HF pencil-beam sonar; high frequency sonar; laser data; probabilistic sensing; sensor error model; sensor fusion architecture; underwater robotics;
Conference_Titel :
Intelligent Systems Engineering, 1994., Second International Conference on
Conference_Location :
Hamburg-Harburg
Print_ISBN :
0-85296-621-0
DOI :
10.1049/cp:19940647
