This paper presents a sonar-based localization approach for an autonomous underwater vehicle, in structured and unstructured environments. The system is based on a particle filter approach to represent the vehicle state and it uses a mechanically scanned profiling sonar, acquiring range profiles. A modification to the standard particle filter algorithm is proposed, in order to explore the state space in a more effective way and to reduce computational complexity. The proposed system was validated both in simulation and in trials involving a real vehicle, showing a high robustness and real-time capabilities. © 2008 IEEE.
|Title of host publication||OCEANS 2008|
|Publication status||Published - 2008|
|Event||OCEANS 2008 - Quebec City, QC, Canada|
Duration: 15 Sep 2008 → 18 Sep 2008
|City||Quebec City, QC|
|Period||15/09/08 → 18/09/08|