In a partially known navigation and localization environment

Author

Cristi, Roberto

Author_Institution

Dept. of Electr. & Comput. Eng., Naval Postgraduate Sch., Monterey, CA, USA

fYear

1994

fDate

19-20 Jul 1994

Firstpage

263

Lastpage

267

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/AUV.1994.518634

Filename

518634