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http://dx.doi.org/10.5573/ieie.2017.54.3.108

Experimental result of Real-time Sonar-based SLAM for underwater robot  

Lee, Yeongjun (Marine robotics Lab., Korea Research Institute Of Ships & Ocean engineering)
Choi, Jinwoo (Marine robotics Lab., Korea Research Institute Of Ships & Ocean engineering)
Ko, Nak Yong (Dept. Control, Instrumentation and Robot Engineering, Chosun University)
Kim, Taejin (Marine robotics Lab., Korea Research Institute Of Ships & Ocean engineering)
Choi, Hyun-Taek (Marine robotics Lab., Korea Research Institute Of Ships & Ocean engineering)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.54, no.3, 2017 , pp. 108-118 More about this Journal
Abstract
This paper presents experimental results of realtime sonar-based SLAM (simultaneous localization and mapping) using probability-based landmark-recognition. The sonar-based SLAM is used for navigation of underwater robot. Inertial sensor as IMU (Inertial Measurement Unit) and DVL (Doppler Velocity Log) and external information from sonar image processing are fused by Extended Kalman Filter (EKF) technique to get the navigation information. The vehicle location is estimated by inertial sensor data, and it is corrected by sonar data which provides relative position between the vehicle and the landmark on the bottom of the basin. For the verification of the proposed method, the experiments were performed in a basin environment using an underwater robot, yShark.
Keywords
Sonar based SLAM; Probability; Extended Kalman Filter; Underwater robot; yShark;
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Times Cited By KSCI : 3  (Citation Analysis)
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