Abstract
This paper presents two acoustic-based techniques to solve the localization problem for an autonomous underwater vehicle (AUV). After a brief description of the Bayesian filtering framework, the paper analyses two of the most common underwater scenarios. Each scenario corresponds to one of the two localization techniques. The scenarios are as follows: map-based localization, when the environment is sufficiently distinctive; transponder-based localization for navigation in large and not distinctive environments. An environment is said to be distinctive when there are possible reference points. For example, a completely flat featureless sea floor is not considered as distinctive. The proposed techniques were validated in simulation. The map-based localization technique was also validated in trials with the autonomous underwater vehicles Ictineu and Nessie IV. The trials with Ictineu took place in an abandoned marina with Ictineu travelling along a trajectory that was more than 600m long. The trials with Nessie IV took place in a rectangular pool and during an AUV competition. © Authors 2010.
| Original language | English |
|---|---|
| Pages (from-to) | 293-307 |
| Number of pages | 15 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment |
| Volume | 224 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1 Nov 2010 |
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Keywords
- acoustic-based techniques
- autonomous underwater vehicle
- localization problem
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Acoustic-based techniques for autonomous underwater vehicle localization. / Petillot, Y.; Maurelli, F.; Valeyrie, N.; Mallios, A.; Ridao, P.; Aulinas, J.; Salvi, J.
In: Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, Vol. 224, No. 4, 01.11.2010, p. 293-307.Research output: Contribution to journal › Article
TY - JOUR
T1 - Acoustic-based techniques for autonomous underwater vehicle localization
AU - Petillot, Y.
AU - Maurelli, F.
AU - Valeyrie, N.
AU - Mallios, A.
AU - Ridao, P.
AU - Aulinas, J.
AU - Salvi, J.
PY - 2010/11/1
Y1 - 2010/11/1
N2 - This paper presents two acoustic-based techniques to solve the localization problem for an autonomous underwater vehicle (AUV). After a brief description of the Bayesian filtering framework, the paper analyses two of the most common underwater scenarios. Each scenario corresponds to one of the two localization techniques. The scenarios are as follows: map-based localization, when the environment is sufficiently distinctive; transponder-based localization for navigation in large and not distinctive environments. An environment is said to be distinctive when there are possible reference points. For example, a completely flat featureless sea floor is not considered as distinctive. The proposed techniques were validated in simulation. The map-based localization technique was also validated in trials with the autonomous underwater vehicles Ictineu and Nessie IV. The trials with Ictineu took place in an abandoned marina with Ictineu travelling along a trajectory that was more than 600m long. The trials with Nessie IV took place in a rectangular pool and during an AUV competition. © Authors 2010.
AB - This paper presents two acoustic-based techniques to solve the localization problem for an autonomous underwater vehicle (AUV). After a brief description of the Bayesian filtering framework, the paper analyses two of the most common underwater scenarios. Each scenario corresponds to one of the two localization techniques. The scenarios are as follows: map-based localization, when the environment is sufficiently distinctive; transponder-based localization for navigation in large and not distinctive environments. An environment is said to be distinctive when there are possible reference points. For example, a completely flat featureless sea floor is not considered as distinctive. The proposed techniques were validated in simulation. The map-based localization technique was also validated in trials with the autonomous underwater vehicles Ictineu and Nessie IV. The trials with Ictineu took place in an abandoned marina with Ictineu travelling along a trajectory that was more than 600m long. The trials with Nessie IV took place in a rectangular pool and during an AUV competition. © Authors 2010.
KW - acoustic-based techniques
KW - autonomous underwater vehicle
KW - localization problem
UR - http://www.scopus.com/inward/record.url?scp=78149249287&partnerID=8YFLogxK
U2 - 10.1243/14750902JEME197
DO - 10.1243/14750902JEME197
M3 - Article
VL - 224
SP - 293
EP - 307
JO - Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment
JF - Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment
SN - 1475-0902
IS - 4
ER -