Title :
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
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;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896451
