Abstract
The following paper presents results from a novel solution for improving the navigation of an Autonomous Underwater Vehicle (AUV) using a side-scan sonar. It is derived from a system that has been developed to produce high quality mosaics using a Doppler Velocity Log (DVL), a tri-axial compass and a side-scan sonar. The system has been extended by incorporating a Concurrent Mapping and Localization (CML) algorithm. The CML tool chosen is the stochastic map. This is a proven tool for navigating in unknown environments. It can be used as a substitute for common absolute sensors, such as GPS or acoustic baseline systems, or it can work with them. The system concurrently builds a map of the environment using observations of landmarks extracted from side-scan sonar and uses that map an the dead-reckoning to create and estimate of the AUV's location.
| Original language | English |
|---|---|
| Pages (from-to) | 1261-1268 |
| Number of pages | 8 |
| Journal | Oceans Conference Record |
| Volume | 3 |
| Publication status | Published - 2003 |
| Event | Celebrating the Past... Teaming Toward the Future - San Diego, CA., United States Duration: 22 Sept 2003 → 26 Sept 2003 |