Title :
Robust range-only beacon localization
Author :
Olson, Edwin ; Leonard, John ; Teller, Seth
Author_Institution :
Comput. Sci. & Artificial Intelligence Laboratory, Massachusetts Inst. of Technol., MA, USA
Abstract :
Most autonomous underwater vehicle (AUV) systems rely on prior knowledge of beacon locations for localization. We present a system capable of navigating without prior beacon locations. Noise and outliers are major issues; we present a powerful outlier rejection method that imposes geometric constraints on measurements. We have successfully applied our algorithm to real-world data and have demonstrated navigation performance comparable to that of systems that assume known beacon locations.
Keywords :
mobile robots; radionavigation; transponders; underwater vehicles; autonomous underwater vehicle; geometric constraints; outlier rejection method; robust range only beacon localization; Acoustic measurements; Artificial intelligence; Computer science; Filters; Navigation; Partitioning algorithms; Position measurement; Robustness; Synthetic aperture sonar; Time measurement;
Conference_Titel :
Autonomous Underwater Vehicles, 2004 IEEE/OES
Print_ISBN :
0-7803-8543-8
DOI :
10.1109/AUV.2004.1431195
