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

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

643

Lastpage

645

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/URAI.2012.6463108

Filename

6463108