Abstract:Simultaneous localization and mapping (SLAM) is an active localization method for Autonomous Underwater Vehicle (AUV), and it can mainly be used in unknown and complex areas such as coastal water, harbors, and wharfs. This paper presents a practical occupancy grid-based method based on forward-looking sonar for AUV. The algorithm uses an extended Kalman filter (EKF) to estimate the AUV motion states. First, the SLAM method fuses the data coming from the navigation sensors to predict the motion states. Subseque… Show more
“…An occupancy-grid-based SLAM technique for AUVs was proposed in [7]. A local map was taken from the entire map and applied to each sonar scan as a scanning grid map.…”
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/).
“…An occupancy-grid-based SLAM technique for AUVs was proposed in [7]. A local map was taken from the entire map and applied to each sonar scan as a scanning grid map.…”
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/).
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.