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Autonomous underwater vehicle (AUV) is developed as a powerful tool with capability of autonomous navigation to conduct benthal survey and exploration. It's a kind of expensive equipment and experimental data obtained in one voyage is also very important. So an on-board self-rescue system is indispensable to ensure AUV escaping from dangers and rising up to the surface safely. In this paper a self-rescue...
The underwater vehicles technology has been developed rapidly in recent years. In the past years, the method of Simultaneous Localization and Mapping (SLAM) has prevailed and provided a feasible way of autonomous navigation. This paper introduces an algorithm based on Inertial Measurement Units (IMU) and sonar for autonomous navigation of underwater vehicles, which is called Inertial-SLAM algorithm...
Data association is one of the most difficult problems in Simultaneous Localization and Mapping (SLAM). As for Autonomous Underwater Vehicle (AUV), reliable data association is particularly important because of complex and mutable underwater environment. In this paper two prevailing data association algorithms-Individual Compatibility Nearest Neighbor (ICNN) and Joint Compatibility Branch and Bound...
Autonomous underwater vehicle (AUV) has been widely used in marine exploration and military applications in the past decade. No matter which areas AUV applies in, its control system is the key of successfully completing the various tasks. In this paper a modular decision-making control system based on behaviors is proposed for AUV. The entire system is composed of two kinds of modules: Rational Behavior...
The paper describes a localization system for autonomous underwater vehicles (AUV). It uses a DVL (Doppler velocity log) sensor and AHRS (attitude and heading reference system) sensor to measure AUV's depth, attitude and velocities relative to the bottom. A mechanically scanning imaging sonar (MSIS) is employed to obtain acoustic images of objects in underwater environment. In order to estimate optimally...
The data logging and management system (DLAM) of the autonomous underwater vehicle (AUV) running on the on-board PC/104 module uses the synchronization and communication mechanism by using multi-threading to implement the function of the collection of data from different devices through multi-serial-port card for sonar, compass, gyro and the USB port for accelerometer, as well as the function of enveloping...
Autonomous underwater vehicle (AUV) has to face many intractable problems while implementing indeed autonomy. In the past years, the method of simultaneous localization and mapping (SLAM) has prevailed and provided a feasible way to autonomous navigation. Loop-closing problems of AUV are discussed in this paper. Loop-closing is to identify that AUV has returned to the already visited areas, and localization...
Navigation and localization with high precision has been one of most critical issues for the safety and effective completion of missions of autonomous underwater vehicles. Since the underwater environment is extremely complex and the external sensors of what can be used are limited to only sonar, as well as information obtained has too much noise and interference, thus all of the intractable will...
Simultaneous localization and mapping (SLAM) is of prime importance for navigation problem of autonomous underwater vehicle. Currently EKF-based SLAM and particle filter-based SLAM are prevalent methods though they have their own deficiency respectively. In this paper a modified RBPF method is proposed to apply in navigation and localization for our underwater vehicle, C-RANGER. Unscented Kalman filter...
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