Title :
In a partially known navigation and localization environment
Author_Institution :
Dept. of Electr. & Comput. Eng., Naval Postgraduate Sch., Monterey, CA, USA
Abstract :
An algorithm for autonomous navigation of a vehicle using sonar sensors is presented. The main feature is that it is designed to operate in mapped environments in the presence of unmapped obstacles. Key requirements are: 1) robust localization in the presence of unknown features and vehicle motion, 2) estimation of deterministic disturbances such as currents, and 3) localization of unknown objects. The approach is based on a suitable potential function describing the environment and on extended Kalman filtering techniques to provide recursive estimation of the vehicle location
Keywords :
Kalman filters; marine systems; navigation; path planning; recursive estimation; sonar tracking; autonomous navigation; autonomous underwater vehicles; deterministic disturbance estimation; dynamic model; extended Kalman filtering; localization environment; mapped environments; obstacle localisation; recursive estimation; sonar sensors; Frequency estimation; Land vehicles; Neural networks; Remotely operated vehicles; Robustness; Sonar detection; Sonar navigation; Telephony; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1994. AUV '94., Proceedings of the 1994 Symposium on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-7803-1808-0
DOI :
10.1109/AUV.1994.518634
