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Experiments in Navigation and Mapping with a Hovering AUV

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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Submitted on : Monday, January 7, 2008 - 6:01:16 PM
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  • HAL Id : inria-00202698, version 1



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. ⟨inria-00202698⟩



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