This paper describes the autonomous navigation and control of an undersea vehicle using a vehicle control architecture based on the Distributed Architecture for Mobile Navigation and a terrain-aided navigation technique based on simultaneous localisation and map building. Development of the low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. Details of an implementation of these techniques on a small submersible vehicle "Oberon" are presented.


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    Title :

    Autonomous underwater navigation and control


    Contributors:

    Published in:

    Robotica ; 19 , 5 ; 481-496


    Publication date :

    2001


    Size :

    16 Seiten, 16 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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