Active Range-Only beacon localization for AUV homing | IEEE Conference Publication | IEEE Xplore

Active Range-Only beacon localization for AUV homing


Abstract:

This paper presents a solution to the 3D Range-Only beacon localization problem using a Sum of Gaussians (SOG) filter together with an Active Localization method, which i...Show More

Abstract:

This paper presents a solution to the 3D Range-Only beacon localization problem using a Sum of Gaussians (SOG) filter together with an Active Localization method, which is based on the minimization of the beacon position uncertainty, in order to ensure the problem observability and a fast convergence. The method is applied to autonomously locate a subsea panel and home to it in order to establish visual contact to later launch a visual servoing based docking task. The method is demonstrated through field experiments in a harbor environment with an Autonomous Underwater Vehicle (AUV) including Ultra-Short Baseline (USBL) ground truth information.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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