Simultaneous Mapping and Localisation for Small Military Unmanned Underwater Vehicle

Hwang, Arom; Seong, Woojae

doi:10.14429/dsj.62.1002

Cited by 5 publications

(3 citation statements)

References 2 publications

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“…Ocean robots have been regarded as one of the most important tools for understanding and exploring ocean, especially in those dangerous and inaccessible places (for instance, harsh or underwater high‐pressure environment). At present, ocean robots have been successfully applied in many marine areas, such as submarine resource exploitation (manganese nodule, hydrothermal deposits, etc), hydrographic survey, pipeline inspection, ocean observation, military applications (mine clearance, anti‐submarine warfare, etc), and so on. This paper summarizes the application of MRE in ocean robots and presents the important significance of improving ocean robots' endurance by introducing MRE, which will provide a reference for MRE development and ocean robot construction in future research related to marine engineering technology.…”

Section: Introductionmentioning

confidence: 99%

Current status and prospects of marine renewable energy applied in ocean robots

Tian

2019

Int J Energy Res

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Summary The power supply for ocean robots has always been an important issue since it has a fatal influence on the endurance of these vehicles. However, the marine renewable energy (MRE) has huge potential and can provide the possibility to solve this problem between essential endurance and finite energy in ocean robots. This paper starts with brief introduction of marine energy resource and ocean robots and presents significance of improving ocean robots' endurance, through comparison of their performance characteristics. MRE applied in ocean robots developed or under development, including energy conversion and driving principle, is reviewed, such as solar, wind, tides, waves, thermal energy, etc. Many challenges and difficulties are also discussed in energy exploitation and utilization related to ocean robots. Finally, the prospect for the future development of related technologies is proposed in this paper.

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Section: Introductionmentioning

confidence: 99%

Current status and prospects of marine renewable energy applied in ocean robots

Tian

2019

Int J Energy Res

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“…UKF-SLAM is an extended version of EKF-SLAM. It is suitable for nonlinear motion of AUV [10,11]. EIF-SLAM is good at a low computational cost when compared with EKF-SLAM [12,13].…”

Section: Introductionmentioning

confidence: 99%

Improved FastSLAM based on EnKF proposal distribution for AUV

Wang¹,

Liu²

2017

Proceedings of the 2nd International Conference on Computer Engineering, Information Science &Amp; Application Technology (ICCI

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Abstract.A new Fast simultaneous localization and mapping (FastSLAM) algorithm based on ensemble Kalman filter (EnKF) is proposed in order to solve the problem of particles degeneration, which is an avoidless drawback in standard FastSLAM. This will decrease the estimated accuracy of autonomous underwater vehicle (AUV) location. Integrating the latest observe information, EnKF is used to produce the proposal distribution.， and it more approximates the real posterior distribution. The kinematic model of AUV, feature model and measurement models of sensors were established. Two experiments with improved FastSLAM were carried out to validate the effectiveness. The first experiment was complete simulation which showed that the presented method was feasible theoretically. The second experiment was based on trial data which showed that the method weakened the degradation and enhanced the accuracy and stability of AUV navigation and localization in practical application.

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“…Boyer and Lebastard (2012) proposed a solution to the underwater exploration of objects using a new sensor inspired from the electric fish. Hwang and Seong (2012) studied a simultaneous localisation and mapping scheme which can be applicable to small military unmanned underwater vehicles. Autonomous under water sensor networks can be deployed to perform collaborative monitoring tasks in oceanic environment to communicate with each other via acoustic signals, report the geographical origin of events, data tagging, assist in target tracking, geographic aware routing, node tracking and to administer the sensor network and evaluate its coverage (Naik and Nene, 2012).…”

Section: Introductionmentioning

confidence: 99%

The Future Deep Underwater Space Station

Jian-jun¹,

Jiang²,

Xiao³

2013

RJASET

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The purpose of the study is to provide an idea of developing an underwater space station. Though the ocean covers about 71% of the surface of the Earth and holds tremendous amount of resources, it is still an unknown field for human beings. With the depletion of natural resources on the land, there is an urgent need to explore and exploit the ocean, but this process is constrained by the ocean engineering equipment and technology. The study proposed a sketch of a deep sea space station, which is similar to the International space station. The station can applied to observe the ocean environment, generate power from the ocean energy, manage to mine resources, control underwater factories and underwater vehicles, be habitable for staff, making another space for human.

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Simultaneous Mapping and Localisation for Small Military Unmanned Underwater Vehicle

Cited by 5 publications

References 2 publications

Current status and prospects of marine renewable energy applied in ocean robots

Current status and prospects of marine renewable energy applied in ocean robots

Improved FastSLAM based on EnKF proposal distribution for AUV

The Future Deep Underwater Space Station

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