Adaptive Sensing for Localisation of an Autonomous Underwater Vehicle
نویسندگان
چکیده
This paper demonstrates an improved robot localisation approach based on adaptive sensing. Using a particle filter to represent the uncertainty in location the approach minimises the expected entropy after the next robot action. It is demonstrated in simulation that this approach is useful in sensor management of an Autonomous Underwater Vehicle when a digitised elevation map of the environment is available.
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تاریخ انتشار 2005