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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Guo, J. Wang, W.H. Huang, S.W. Chen, E. Chiu, F.C. |
| Copyright Year | 2010 |
| Description | Author affiliation: National Taiwan University, Department of Engineering Science and Ocean Engineering, No. 1, Sec.4, Roosevelt Road, Taipei, Taiwan, 10617, R.O.C. (Guo, J.; Wang, W.H.; Chiu, F.C.) || Taiwan Ocean Research Institute, Taipei, Taiwan, 10617, R.O.C. (Huang, S.W.; Chen, E.) |
| Abstract | Navigation of unmanned underwater vehicle (UUVs) in unstructured environments without long baseline transponders is a challenging problem due to the lack of predefined sea floor landmarks. This study proposes a real time sea floor mapping method using sidescan sonar on UUVs. The mapping system combines the motion information and the observation model of the sidescan sonar. The observation process firstly detects environmental features and then localizes the feature positions relative to the UUV. The landmark localization procedure considers the working principle of sidescan sonar and the acoustic velocity in sea water to localize the landmark and calculate the sidescan sonar footprint region. An occupancy grid mapping algorithm is then used to map the sea floor combining the uncertainties of UUV's motion and measurement errors from the observations. This procedure was implemented on an UUV to verify its landmark detection capability. Experimental results conducted on sandy seabed with concrete targets are demonstrated. |
| Starting Page | 1 |
| Ending Page | 10 |
| File Size | 989414 |
| Page Count | 10 |
| File Format | |
| ISBN | 9781424452217 |
| DOI | 10.1109/OCEANSSYD.2010.5603669 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-05-24 |
| Publisher Place | Australia |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Sonar navigation Sonar measurements Sea floor Sensors Feature extraction Vehicles |
| Content Type | Text |
| Resource Type | Article |
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