Underwater SLAM Implementation for a Bionic Robotic Dolphin
Underwater SLAM Implementation for a Bionic Robotic Dolphin
- New search for: Ma, Shaoxuan
- New search for: Wang, Jian
- New search for: Yan, Shuaizheng
- New search for: Wu, Zhengxing
- New search for: Yu, Junzhi
- New search for: Ma, Shaoxuan
- New search for: Wang, Jian
- New search for: Yan, Shuaizheng
- New search for: Wu, Zhengxing
- New search for: Yu, Junzhi
This paper aims to implement a simultaneous localization and mapping (SLAM) algorithm for a bionic robotic dolphin in underwater simulation environment. Through combining UWSim with ROS, an underwater simulation environment is constructed through importing various environmental models including coral, tropical fish, gullies, and so on. Thereafter, as an autonomous platform for underwater SLAM, a bionic robotic dolphin with its dynamic model is particularly built in the environment to perform dolphin-like swimming. Based on the sensor information from an onboard camera and an inertial measurement unit, the VINS-Mono algorithm is employed and implemented by the robotic dolphin to position itself underwater. Extensive simulations are conducted to validate the effectiveness of the employed SLAM algorithm in various dolphin-like motions of the robotic dolphin, such as linear, circular, and spiral motions. The obtained results provide valuable guidance for the underwater SLAM research.
Document information
Underwater SLAM Implementation for a Bionic Robotic Dolphin
2023-07-17
1751625 byte
Conference paper
Electronic Resource
English
Similar titles
Autonomous inspection early warning bionic robotic dolphin system and control method
| European Patent Office | 2022