Title :
EKF-based localization for the underwater structure inspection robot using depth sensor and IMU
Author :
YoungJin Heo ; Gi-Hyeon Lee ; Jinhyun Kim
Author_Institution :
Dept. of Mech. Eng., Seoul Nat. Univ. of Sci. & Technol., Seoul, South Korea
Abstract :
In this paper, we research the EKF-based localization algorithm of the underwater structure inspection robot (which is a crawler wheeled type) to find defected position of the structure. Considering underwater environments, depth sensor is used to measure a vertical position of robot and the heading direction is measured by IMU. Information of horizontal position is got using kinematics relationship without any additional sensors and the performance of proposed algorithm is verified by simulation.
Keywords :
Kalman filters; bathymetry; inspection; marine systems; mobile robots; nonlinear filters; sensors; spatial variables measurement; EKF-based localization; IMU; crawler wheeled type; depth sensor; extended Kalman filter; heading direction measurement; kinematics relationship; underwater structure inspection robot; vertical position measurement; Inspection; Kinematics; Mobile robots; Robot kinematics; Robot sensing systems; Underwater structures; Extended Kalman Filter; IMU; depth sensor; underwater environment;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463108
