Experiments in Navigation and Mapping with a Hovering AUV
نویسندگان
چکیده
This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data collected during autonomous excursions in a limestone quarry are used to generate a map of the quarry geometry.
منابع مشابه
Field Results of the Control, Navigation, and Mapping Systems of a Hovering AUV
This paper describes the evolution of the control, navigation, and mapping capabilities of a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. The vehicle is equipped with a suite of navigation sensors that allow it to localize itself and and create maps of the complex 3D environments in which it operates. It is passively s...
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