Experiments in Navigation and Mapping with a Hovering AUV

George A. Kantor, Nathaniel Fairfield, Dominic Jonak, and David Wettergreen
Intl. Conf. on Field and Service Robotics, 2007.


Download
  • Adobe portable document format (pdf) (1MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
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.

Keywords
autonomous underwater vehicle depthx

Notes
Sponsor: NASA
Grant ID: NNG04GC09G
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): DEPTHX: Deep Phreatic Thermal Explorer
Number of pages: 8

Text Reference
George A. Kantor, Nathaniel Fairfield, Dominic Jonak, and David Wettergreen, "Experiments in Navigation and Mapping with a Hovering AUV," Intl. Conf. on Field and Service Robotics, 2007.

BibTeX Reference
@inproceedings{Kantor_2007_5823,
   author = "George A Kantor and Nathaniel Fairfield and Dominic Jonak and David Wettergreen",
   title = "Experiments in Navigation and Mapping with a Hovering AUV",
   booktitle = "Intl. Conf. on Field and Service Robotics",
   year = "2007",
}