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Measurement delays are inherent in position feedback methods used for underwater navigation. Even for small delays, proper treatment of these measurements will provide more robust performance and reduce uncertainties, improving overall precision. The Kalman filter (KF) can be adapted to treat delayed measurements in an efficient and mathematically rigorous way. We present a delayed state sigma point...
Autonomous underwater vehicles (AUVs) that rely on dead reckoning suffer from unbounded localization error growth at a rate dependent on the quality (and cost) of the navigational sensors. Many AUVs surface occasionally to get a GPS position update. Alternatively underwater acoustic beacons such as long baseline (LBL) arrays are used for localization, at the cost of substantial deployment effort....
In this paper we present an autonomous control system, a cost effective autonomous underwater vehicle, and their integration capable of localizing and navigating relative to the boundaries of a bounded body of water. The vehicle is controlled by two propellers driven by Transmotec motors one on each lateral side of the vehicle. Two sensors are used to localize the vehicle; a compass and a laser based...
This paper presents a hybrid layered architecture for intelligent transportation. The system relies on integrating odometry, DGPS and compass readings for localization and deliberative planning, whereas the path is tracked at low level by means of a CBR based reactive navigation algorithm capable of adapting to the vehicle kinematics and environment conditions through learning. The system has been...
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