Local area navigation using sonar feature extraction and model-based predictive control

DOI10.1080/00207729808929602MaRDI QIDQ4546797zbMATH OpenOpenAlexFDO

Authors D. B. Marco, A. J. Healey

Publication date 31 October 2002

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207729808929602, https://hdl.handle.net/10945/37145

zbMATH Keywords

autonomous underwater vehiclelocal area navigationmodel-based predictive controlsonar feature extraction

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Application models in control theory (93C95)

Review text

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.

Recommendations

• Underwater SLAM in man-made structured environments
• scientific article; zbMATH DE number 53983
• Acoustic motion estimation and guidance for unmanned underwater vehicles
• scientific article; zbMATH DE number 5347121
• Experiments in navigation and mapping with a hovering AUV

Cited in

(7)

• Reactive navigation and opportunistic localization for autonomous underground mining vehicles
• Robust vision-based underwater target identification and homing using self-similar landmarks
• Experiments in navigation and mapping with a hovering AUV
• Localization of a UUV within structures using range data and world modelling techniques
• Acoustic motion estimation and guidance for unmanned underwater vehicles
• Automatic north-wise alignment of sector sonar image
• Advanced adaptive sonar for mapping applications

This page was built for publication: Local area navigation using sonar feature extraction and model-based predictive control

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4546797)