Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse E...

Mosaic Based Navigation for Autonomous Underwater Vehicles

We propose an approach for vision-based navigation of underwater robots that relies on the use video mosaics of the sea bottom as environmental representations for navigation. We present a methodology for building high quality video mosaics of the sea bottom, in a fully automatic manner, that ensures global spatial coherency. During navigation, a set of efficient visual routines are used for th...

Geophysical Navigation of Autonomous Underwater Vehicles Using Geomagnetic Information ?

This paper addresses the general problem of Autonomous Underwater Vehicle navigation by exploiting the availability of terrain and geophysics-related data. Geophysical navigation algorithms are derived to estimate the position and velocity of an AUV in the presence of unknown ocean currents and sensor biases. The current implementation merges acoustic and magnetic measurements with dead-reckoni...

Underwater Navigation for Long-Range Autonomous Underwater Vehicles Using Geomagnetic and Bathymetric Information

This paper evaluates methods for the long-range navigation of autonomous underwater vehicles (AUVs) at a middle depth of deep water from the viewpoint of spatial fields-aided navigation. Motivated by experimental works on the geomagnetic field-aided navigation of aquatic animals, we focus on the application of inertia systems with reference to maps of geomagnetic and bathymetric fields of the E...

Precision Navigation and Control for Autonomous Underwater Vehicles