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Titolo:
Towards terrain-aided navigation for underwater robotics
Autore:
Williams, S; Dissanayake, G; Durrant-Whyte, H;
Indirizzi:
Univ Sydney, Australian Ctr Field Robot, Dept Mech & Mechatron Engn, Sydney, NSW 2006, Australia Univ Sydney Sydney NSW Australia 2006 n Engn, Sydney, NSW 2006, Australia
Titolo Testata:
ADVANCED ROBOTICS
fascicolo: 5, volume: 15, anno: 2001,
pagine: 533 - 549
SICI:
0169-1864(2001)15:5<533:TTNFUR>2.0.ZU;2-#
Fonte:
ISI
Lingua:
ENG
Keywords:
terrain-aided navigation; localization; mapping; uncertainty; autonomous underwater vehicle;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
16
Recensione:
Indirizzi per estratti:
Indirizzo: Williams, S Univ Sydney, Australian Ctr Field Robot, Dept Mech & MechatronEngn, Sydney, NSW 2006, Australia Univ Sydney Sydney NSW Australia 2006 ey, NSW 2006, Australia
Citazione:
S. Williams et al., "Towards terrain-aided navigation for underwater robotics", ADV ROBOT, 15(5), 2001, pp. 533-549

Abstract

This paper describes an approach to autonomous navigation for an undersea vehicle that uses information from a scanning sonar to generate navigation estimates based on a simultaneous localization and mapping algorithm. Development of low-speed platform models for vehicle control and the theoreticaland practical details of mapping and position estimation using sonar are provided. An implementation of these techniques on a small submersible vehicle 'Oberon' are presented.

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Documento generato il 01/12/20 alle ore 00:45:59