Experiments in Navigation and Mapping with a Hovering AUV
Conference Paper, Proceedings of 6th International Conference on Field and Service Robotics (FSR '07), pp. 115 - 124, July, 2007
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.
BibTeX
@conference{Kantor-2007-17038,author = {George A. Kantor and Nathaniel Fairfield and Dominic Jonak and David Wettergreen},
title = {Experiments in Navigation and Mapping with a Hovering AUV},
booktitle = {Proceedings of 6th International Conference on Field and Service Robotics (FSR '07)},
year = {2007},
month = {July},
pages = {115 - 124},
keywords = {autonomous underwater vehicle depthx},
}
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