Title :
Shallow waters SLAM experiments on meredith AUV using forward looking sonar
Author :
Koh, A.C.T. ; Wijesoma, W.S. ; Pua, S.L. ; Lee, K.W. ; Kalyan, B.
Author_Institution :
DSO Nat. Labs., Singapore, Singapore
Abstract :
This paper describes the sea trial experiments conducted to validate the physical implementation of online EKF-SLAM onboard the Meredith Autonomous Underwater Vehicle (AUV) in shallow coastal waters. This paper provides details of the hardware and software implementations of the EKF-SLAM algorithms running real-time on the AUV to perform feature-based navigation. The computation resources onboard Meredith and the hardware configuration that facilitated the real-time SLAM demonstration are also featured in this paper. The localization estimates from the SLAM algorithm were validated with ground truth provided by GPS and the deployed targets. Dead-reckoning navigation solution based on DVL and FOGs that were used for vehicle autonomy were also made available for results validation.
Keywords :
oceanographic equipment; remotely operated vehicles; sonar; underwater vehicles; Dead-reckoning navigation solution; EKF-SLAM algorithms; Meredith AUV; Meredith autonomous underwater vehicle; forward looking sonar; shallow coastal waters; shallow water SLAM experiments; Data mining; Feature extraction; Hardware; Laser radar; Navigation; Robot vision systems; Simultaneous localization and mapping; Sonar; Underwater vehicles; Water resources;
Conference_Titel :
OCEANS 2009, MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges
Conference_Location :
Biloxi, MS
Print_ISBN :
978-1-4244-4960-6
Electronic_ISBN :
978-0-933957-38-1
