Local area navigation using sonar feature extraction and model-based predictive control (Q4546797)
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scientific article; zbMATH DE number 1785074
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| English | Local area navigation using sonar feature extraction and model-based predictive control |
scientific article; zbMATH DE number 1785074 |
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Local area navigation using sonar feature extraction and model-based predictive control (English)
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31 October 2002
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autonomous underwater vehicle
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local area navigation
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sonar feature extraction
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model-based predictive control
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0.7622097134590149
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0.7349583506584167
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0.7152159810066223
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An underwater vehicle autonomous navigation to local area landmarks is more appropriate and precise in some missions involving search, mapping and intervention with objects. The paper demonstrates a method of local area maneuvering using sonar-based feature detection from the local scene. To provide control inputs during the period when sonar updates are not available, a dynamic model of the vehicle is used. A scheme of vehicle control in the plane is discussed, and corresponding experimental results are presented.
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