The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Localization of an Underwater Robot Using Acoustic Signal

음향 신호를 이용한 수중로봇의 위치추정

  • Kim, Tae Gyun (Dept. Control and Instrumentation Engineering, Chosun University) ;
  • Ko, Nak Yong (Dept. Control, Instrumentation and Robot Engineering, Chosun University)
  • Received : 2012.06.16
  • Accepted : 2012.09.10
  • Published : 2012.11.30
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Abstract

This paper proposes particle filter(PF) method using acoustic signal for localization of an underwater robot. The method uses time of arrival(TOA) or time difference of arrival(TDOA) of acoustic signals from beacons whose locations are known. An experiment in towing tank uses TOA information. Simulation uses TDOA information and it reveals dependency of the localization performance on the uncertainty of robot motion and senor data. Also, comparison of the PF method with the least squares method of spherical interpolation(SI) and spherical intersection(SX) is provided. Since PF uses TOA or TDOA which comes from measurement of external information as well as internal motion information, its estimation is more accurate and robust to the sensor and motion uncertainty than the least squares methods.

Keywords

References

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