A particle filter approach for AUV localization

Abstract

Abstract-This paper presents a sonar-based localization approach for an autonomous underwater vehicle, in structured and unstructured environments. The system is based on a particle filter approach to represent the vehicle state and it uses a mechanically scanned profiling sonar, acquiring range profiles. A modification to the standard particle filter algorithm is proposed, in order to explore the state space in a more effective way and to reduce computational complexity. The proposed system was validated both in simulation and in trials involving a real vehicle, showing a high robustness and real-time capabilities.

Pipeline tracking for fully-actuated autonomous underwater vehicle using visual servo control

“…In order to stabilize U about e 1 , recall the time derivative (13) of the storage function (12) and choose:…”

“…(24), (22), (21), one can apply the control law (18) proposed in Section IV in order to stabilize (V, Ω) about (V r , Ω r ). Using the fact that V , Ω converge to zero and from (12) and (23) it is straightforward to verify that U 2 converges to zero. Since R T e 3 converges to e 3 along with U 2 = 0 one can verify that U converges to e 1 .…”

“…Moreover, some developments with respect to the sensor-based navigation, centered mostly around sonar-based tracking and simultaneous localisation and mapping (SLAM) have been recently proposed [10]. Notable examples of work where the sensor input is used for structure-referenced navigation are [11] and [12], while [13] and [14] focus on the task of pipeline tracking, with little regards to the nonlinearity of the control problem.…”

A survey on Terrain Based Navigation for AUVs

“…In (Maurelli et al (2008)) a SIR-PF TBN system is proposed where the robot displacement is measured with a FOG-DVL navigation system and the range-altitude as well as range profiles acquired with a Mechanical Scanning Profiling Sonar are used to sense the terrain. Authors propose to inject random particles during the resampling process in order to allow the system to recover from possible wrong convergence situations.…”

Sonar-based FastSLAM in an underwater environment using walls as features

“…They are, however, limited by the need of a human operator and usually a tether for communication. In recent years, therefore, interest in developing Autonomous Underwater Vehicles (AUVs) has increased [1], [2]. AUVs are promising because of the potential cost savings in omitting a human operator and in performing tasks too difficult or dangerous for people to do.…”