Experiments in Navigation and Mapping with a Hovering AUV

George Kantor 1 Nathaniel Fairfield 1 Dominic Jonak 1 David Wettergreen 1
1 The Robotics Institute
Abstract : This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data collected during autonomous excursions in a limestone quarry are used to generate a map of the quarry geometry.
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Communication dans un congrès
6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. Springer, 42, 2007, Springer Tracts in Advanced Robotics
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George Kantor, Nathaniel Fairfield, Dominic Jonak, David Wettergreen. Experiments in Navigation and Mapping with a Hovering AUV. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. Springer, 42, 2007, Springer Tracts in Advanced Robotics. 〈inria-00202698〉

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