The 3-D map building of AUV based on D-S information fusion

Author

Li Li ; Daqi Zhu ; Bing Sun ; Zhigang Deng

Author_Institution

Lab. of Underwater Vehicles & Intell. Syst., Shanghai Maritime Univ., Shanghai, China

fYear

2014

fDate

28-30 July 2014

Firstpage

8639

Lastpage

8644

Abstract

In this paper, a three-dimensional (3-D) map building approach is proposed for path planning with obstacle avoidance of Autonomous Underwater Vehicle (AUV) in the unknown dynamic environment. Firstly, establishing the environment model and sonar model and the sonar readings are converted to probability values. Then, the map data is updated by using D-S information fusion and the 3-D dynamic grid map is built. Finally, illustrate the feasibility of D-S information fusion on map building by comparing the real map and the dynamic map.

Keywords

autonomous underwater vehicles; collision avoidance; probability; sensor fusion; sonar; 3D dynamic grid map; 3D map building approach; AUV; D-S information fusion; autonomous underwater vehicle; obstacle avoidance; path planning; probability values; sonar model; sonar readings; three-dimensional map building approach; unknown dynamic environment; Accuracy; Acoustics; Buildings; Reliability theory; Robot sensing systems; Sonar; D-S information fusion; dynamic grid map; sonar readings; three-dimensional (3-D) map building;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896451

Filename

6896451