The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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SLAM for an AUV using vision and an acoustic beacon

Mohammadreza Bayat
Institute for Systems and Robotics, Instituto Superior Tecnico, Lisbon
Portugal

Antonio Pedro Aguiar
Institute for Systems and Robotics, Instituto Superior Tecnico, Lisbon
Portugal

Abstract:
The problem of computing the position and attitude of an autonomous underwater vehicle (AUV) is a challenging and important problem in marine robotics. The underwater environment posses considerable problems, e.g., there is no GPS signal, no radio communications (just acoustic), low bandwidth, only short distance of visibility, and much more.

In this paper, we address the full state 6DOF pose estimation of an AUV assuming that we have partial measurements from an Inertial Measurement Unit (IMU), an acoustic ranging from a single beacon buoy, and a monocular camera attached to the vehicle.
Using SLAM and EKF-SLAM tools we propose an algorithm that integrates all these measurements and compute on-line an estimative of the AUV position and attitude. Simulation results are presented and discussed.

 

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