DocumentCode
2163552
Title
Probabilistic sensing for underwater robotics
Author
Chantler, M.J. ; Reid, C.S. ; Wright, V.J.C.
Author_Institution
Heriot-Watt Univ., Edinburgh, UK
fYear
1994
fDate
5-9 Sep 1994
Firstpage
337
Lastpage
341
Abstract
The research reported in this paper is the product of one of a group of projects concerned with the automation of simple underwater manipulation tasks. An architecture for sensor fusion is presented which has been developed to integrate high frequency sonar and laser data. Also presented is a novel sensor error model for a high frequency pencil-beam sonar, with experimental results showing a typical 3-dimensional representation generated using the model
Keywords
marine systems; mobile robots; probability; sensor fusion; sonar; HF pencil-beam sonar; high frequency sonar; laser data; probabilistic sensing; sensor error model; sensor fusion architecture; underwater robotics;
fLanguage
English
Publisher
iet
Conference_Titel
Intelligent Systems Engineering, 1994., Second International Conference on
Conference_Location
Hamburg-Harburg
Print_ISBN
0-85296-621-0
Type
conf
DOI
10.1049/cp:19940647
Filename
332018
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